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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

Visualizing URDF models of existing robots

To visualize some of the existing robot URDF models, you can download the ROS 2 description packages that are publicly available, such as on GitHub, or install binaries of robot models from the apt package manager.

Here are some of the models you can install and visualize in RViz:

  • Universal Robot [20]
  • TurtleBot 4 [21]
  • Leo Rover [22]

Here is a command to install those description packages using the apt package manager:

sudo apt install -y ros-jazzy-ur-description ros-jazzy-turtlebot4-description  ros-jazzy-leo-description

After installing the packages, let’s see how to visualize a UR robot in the following section.

Visualizing the Universal Robot model

We can change the type of robot and visualize multiple types of robots. Here are the options available (ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20, and ur30). We will use ur30 as an example:

ros2 launch ur_description view_ur...
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