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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
LinkedIn
Lentin Joseph is an accomplished Indian roboticist, author, entrepreneur, and educator with over a decade of expertise in robotics software development, machine vision, and artificial intelligence. He is the founder and CTO of RUNTIME Robotics Pvt Ltd, an Indian company focused on R&D in robotics software development and artificial intelligence. He also runs robocademy, an online platform for robotics education. With strong proficiency in ROS, OpenCV, and PCL, Lentin has authored 10 widely acclaimed books on robotics, including Learning Robotics Using Python and Mastering ROS for Robotics Programming. He holds a bachelor's degree in Electronics and Communication Engineering from FISAT and a master's in Robotics and Automation from Amrita University. During his studies, he developed a gesture- and speech-interactive social robot that gained media attention. Lentin has also conducted research at Carnegie Mellon University's Robotics Institute, delivered a TEDx talk, and actively contributes to robotics education through workshops, blogs, and training programs.
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Jonathan Cacace Jonathan Cacace
Author Profile Icon Jonathan Cacace
Jonathan Cacace
LinkedIn
Jonathan Cacace was born in Naples, Italy, on 13 December 1987. He earned a Bachelor's and Masters of Science in Computer Science from the University of Naples Federico II. He then joined the university's PhD program, earning the title of Philosophiae Doctor in Automation and Computer Engineering in 2016. During his research career, he had the opportunity to participate in and lead various applied research projects focused on robotics, funded by the European Union. This allowed him to explore several areas of robotics, ranging from robot manipulation to navigation. After completing his PhD, he continued his scientific research and work in applied robotics, contributing to more than 50 scientific publications in leading robotics conferences and scientific journals. He also worked as a private consultant for several startups across Europe. From 2019 to 2023. He worked as an assistant professor at the University of Naples, where he taught two courses: Laboratory of Robotics and Mobile Robotics. During this time, he mentored many undergraduate students in the field of Robotics and Computer Engineering. He was also invited to speak at an international robotics workshop held at one of Europe's most prestigious research centers and universities. Currently, Jonathan works as a senior researcher in the field of Cognitive Robotics and Human-Robot Interaction at Eurecat - Centre Tecnològic de Catalunya in Barcelona.
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Toc

Table of Contents (22) Chapters Close

Preface
1. Part I: ROS 2 Programming and Simulation FREE CHAPTER
2. Introduction to ROS 2 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

Designing and Programming a DIY Mobile Robot from Scratch

In previous chapters, we explored how to install and configure ROS 2 packages to implement autonomous navigation, localization, and mapping for a simulated robot. In this chapter, we will focus on building a simple and affordable differential drive robot and equipping it with navigation capabilities.

To follow along with this chapter, you will need some hardware components. However, the programs and configurations provided here can be slightly adapted to work with any DIY mobile platform. The goal of this chapter is to guide you through configuring the complete navigation pipeline—from low-level motor control to localization and path planning.

We will cover the following topics in this chapter:

  • Understanding the DIY mobile robot
  • Understanding the electronic connection
  • Programming and configuring the DIY robot
  • Further improvements
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Authors (2)

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Profile icon Lentin Joseph
Lentin Joseph
LinkedIn icon
Lentin Joseph is an accomplished Indian roboticist, author, entrepreneur, and educator with over a decade of expertise in robotics software development, machine vision, and artificial intelligence. He is the founder and CTO of RUNTIME Robotics Pvt Ltd, an Indian company focused on R&D in robotics software development and artificial intelligence. He also runs robocademy, an online platform for robotics education. With strong proficiency in ROS, OpenCV, and PCL, Lentin has authored 10 widely acclaimed books on robotics, including Learning Robotics Using Python and Mastering ROS for Robotics Programming. He holds a bachelor's degree in Electronics and Communication Engineering from FISAT and a master's in Robotics and Automation from Amrita University. During his studies, he developed a gesture- and speech-interactive social robot that gained media attention. Lentin has also conducted research at Carnegie Mellon University's Robotics Institute, delivered a TEDx talk, and actively contributes to robotics education through workshops, blogs, and training programs.
Read more
See other products by Lentin Joseph
Profile icon Jonathan Cacace
Jonathan Cacace
LinkedIn icon Github icon
Jonathan Cacace was born in Naples, Italy, on 13 December 1987. He earned a Bachelor's and Masters of Science in Computer Science from the University of Naples Federico II. He then joined the university's PhD program, earning the title of Philosophiae Doctor in Automation and Computer Engineering in 2016. During his research career, he had the opportunity to participate in and lead various applied research projects focused on robotics, funded by the European Union. This allowed him to explore several areas of robotics, ranging from robot manipulation to navigation. After completing his PhD, he continued his scientific research and work in applied robotics, contributing to more than 50 scientific publications in leading robotics conferences and scientific journals. He also worked as a private consultant for several startups across Europe. From 2019 to 2023. He worked as an assistant professor at the University of Naples, where he taught two courses: Laboratory of Robotics and Mobile Robotics. During this time, he mentored many undergraduate students in the field of Robotics and Computer Engineering. He was also invited to speak at an international robotics workshop held at one of Europe's most prestigious research centers and universities. Currently, Jonathan works as a senior researcher in the field of Cognitive Robotics and Human-Robot Interaction at Eurecat - Centre Tecnològic de Catalunya in Barcelona.
Read more
See other products by Jonathan Cacace
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