ROS 2 for Beginners, 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.

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Spis treści

ROS 2 from Scratch. Get started with ROS 2 and create robotics applications with Python and C++ eBook -- spis treści

• 1. Introduction to ROS 2 – What Is ROS 2?
• 2. Installing and Setting Up ROS 2
• 3. Uncovering ROS 2 Core Concepts
• 4. Writing and Building a ROS 2 Node
• 5. Topics – Sending and Receiving Messages between Nodes
• 6. Services – Client/Server Interaction between Nodes
• 7. Actions – When Services Are Not Enough
• 8. Parameters – Making Nodes More Dynamic
• 9. Launch Files – Starting All Your Nodes at Once
• 10. Discovering TFs with RViz
• 11. Creating a URDF for a Robot
• 12. Publishing TFs and Packaging the URDF
• 13. Simulating a Robot in Gazebo
• 14. Going Further – What to Do Next