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Mastering ROS 2 for Robotics Programming

You're reading from   Mastering ROS 2 for Robotics Programming Design, build, simulate, and prototype complex robots using the Robot Operating System 2

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Product type Paperback
Published in Jul 2025
Publisher Packt
ISBN-13 9781836209010
Length 576 pages
Edition 4th Edition
Concepts
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Authors (2):
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Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
Jonathan Cacace Jonathan Cacace
Author Profile Icon Jonathan Cacace
Jonathan Cacace
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Toc

Table of Contents (22) Chapters Close

Preface
1. Part I: ROS 2 Programming and Simulation
2. Introduction to ROS 2 FREE CHAPTER 3. Getting Started with ROS 2 Programming 4. Implementing ROS 2 Concepts 5. Working with Robot 3D Modeling in ROS 2 6. Simulating Robots in a Realistic Environment 7. Part II: ROS 2 Applications: Navigation, Manipulation, and Control
8. Controlling Robots Using the ros2_control Package 9. Implementing ROS 2 Applications Using BehaviorTree.CPP 10. ROS 2 Navigation Stack: Nav2 11. Robot Manipulation Using MoveIt 2 12. Working with ROS 2 and Perception Stack 13. Part III: Advanced Applications and Machine Learning
14. Aerial Robotics and ROS 2 15. Designing and Programming a DIY Mobile Robot from Scratch 16. Testing, Continuous Integration, and Continuous Deployment with ROS 2 17. Interfacing Large Language Models with ROS 2 18. ROS 2 and Deep Reinforcement Learning 19. Implementing ROS 2 Visualization and Simulation Plugins 20. Other Books You May Enjoy
21. Index

Integrating ROS 2 APIs in the GTest framework

In the previous example, we learned how to run GTest using ROS 2 commands. However, in a real robotic application, that example may not be very practical. Let’s take our use of GTest a step further with a new example. In this example, we’ll test the output of a ROS 2 node that publishes to a ROS 2 topic. The purpose of the node is to convert an input string (received on a topic) to all lowercase letters. For instance, the string INpUt would be converted to input. To start, we need to create a package and the node we want to test. We’ll create the following source files:

  • to_lowercase.h to store the definition of the ROS 2 node class and its variables
  • to_lowercase.cpp to implement the functions to convert the letters from uppercase to lowercase
  • main.cpp to instantiate and spin the ROS 2 node

We will separate the class and function definitions into different source files, allowing us to...

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