ROS 2 from Scratch Get started with ROS 2 and create robotics applications with Python and C++

Key FeaturesBuild a strong foundation in ROS 2 and instill confidence for future robotics projectsLeverage best practices to create scalable ROS 2 applications with Python and C++Follow a step-by-step process to create and simulate a custom robot using ROS 2Purchase of the print or Kindle book includes a free PDF eBookBook Description
ROS 2 from Scratch, written by the cofounder of a robotics company with years of experience in teaching and engineering, will equip you with the skills necessary to develop cutting-edge robotic systems efficiently.
This book will help you understand why you should use Robot Operating System (ROS), clarifying what ROS is and isn't. It focuses on applied learning-no unnecessary filler, no abstract theory, and no abrupt leaps into complex topics. You'll discover how to install ROS 2, set up your environment, and explore concepts through hands-on experiments, as well as create a ROS 2 application for a custom robot. The chapters expand upon core concepts such as nodes, communication via topics, client-server interactions with services, complex behaviors using actions, runtime configurations with parameters, and seamless node orchestration via launch files. Each concept is clearly explained with the help of real-life analogies and practical examples, using Python and C++. The book will also guide you through creating a real-world project that incorporates TFs, URDF, RViz, and Gazebo.
By the end of this book, you'll be able to create new software for any robot in no time and easily join existing projects for new job roles, research endeavors, and beyond.
What you will learnUnderstand what ROS 2 is, when to use it, and how to use itWrite ROS 2 programs using nodes, topics, services, actions, and custom interfacesScale your application with parameters and launch filesGet a complete overview of how TFs work for any ROS-powered robotCreate a robot model (with URDF) and visualize TFs on RVizAdapt the URDF to spawn and control your robot in the Gazebo simulatorWho this book is for
This book is for engineers, researchers, teachers, students, and hobbyists eager to learn ROS 2 from scratch and build real-world robotics applications efficiently. If you're struggling to get started with ROS 2 or find existing tutorials overwhelming, then this book is for you. This book teaches you all the basics you need to create your own ROS 2 apps, without prior ROS knowledge. Basic Linux command line and Python programming skills (C++ optional for following the C++ code examples) are necessary.
Table of ContentsIntroduction to ROS 2 - What Is ROS 2?Installing and Setting Up ROS 2Uncovering ROS 2 Core ConceptsWriting and Building a ROS 2 NodeTopics - Sending and Receiving Messages between NodesServices - Client/Server Interaction between NodesActions - When Services Are Not EnoughParameters - Making Nodes More DynamicLaunch Files - Starting All Your Nodes at OnceDiscovering TFs with RVizCreating a URDF for a RobotPublishing TFs and Packaging the URDFSimulating a Robot in GazeboGoing Further - What to Do Next