Ultimate Robotics Programming with ROS 2 and Python

Learn Robotics and ROS 2 with Practical Examples

Key Features
? Solve basic and complex robotics problems through practical examples.
? Master ROS 2 programming fundamentals with Python for robotics.
? Simulate mobile and industrial robots using modern Gazebo tools.

Book Description
Robot Operating System (ROS) and Python are essential tools for developing advanced robotics applications, offering reliability and scalability for both research and industrial solutions. [Ultimate Robotics Programming with ROS 2 and Python] introduces readers to ROS 2 without requiring prior experience in robotics. It blends theoretical explanations with practical exercises, empowering readers to solve specific robotics problems while understanding the reasoning behind various approaches.

The book covers a broad spectrum of robotics topics, including mobile robots, industrial manipulators, and aerial robots. These systems are simulated using the modern Gazebo simulator and programmed with ROS 2’s out-of-the-box tools and custom solutions using the ROS 2 API. The book also delves into computer vision, generative AI, and machine learning, providing hands-on examples of real-world applications.

With intermediate challenges designed to reinforce learning, this book serves as an all-encompassing guide for anyone looking to master robotics programming with ROS 2 and Python. Step into the future of robotics and gain the expertise to build sophisticated, real-world robotic systems that can tackle the complex challenges of tomorrow.

What you will learn
? Understand the fundamentals of ROS 2 for robotics development.
? Develop robotics applications using Python and ROS 2 programming.
? Master advanced ROS 2 packages for navigation and manipulation.
? Implement behavior trees in ROS 2 with Python for intelligent robots.
? Utilize modern Gazebo for realistic robot simulation with ROS 2.
? Integrate Large Language Models (LLMs) with ROS 2 for advanced functionalities.
? Perform computer vision tasks with ROS 2 for intelligent robots.

Table of Contents
1. Introduction to Robot Operating System 2
2. Hands-on ROS 2 Programming Using Python
3. Supplementary Tools for ROS 2
4. Robot Visualization and Simulation
5. Writing Tests Using Pytest for ROS 2 Nodes
6. Controlling an Inverted Pendulum with a PID Controller
7. Laser-based Obstacle Avoidance with a Wheeled Mobile Robot
8. ROS 2 Behaviour Trees Using Python
9. Surveillance System Using Behaviour Trees
10. Robot Navigation Using ROS 2 Navigation Stack (Nav2)
11. Robot Arm Control Using MoveIt 2
12. Programming Aerial Robots Using ROS 2
13. Computer Vision Using ROS 2
14. Object Detection Using ROS 2
15. Using Large Language Models with ROS 2
16. Deep Reinforcement Learning Using ROS 2
Index

About the Authors
Jonathan Cacace was born in Naples, Italy, on 13 December 1987. He holds a Bachelor’s and Master’s of Science in Computer Science from University of Naples “Federico II”. Later he joined the PhD program of the same institution, earning the title of Philosophiae Doctor in Automation and Computer Engineering in 2016.

During his research career, he had the chance to participate and lead various applied research projects focused on robotics, funded by the European Union. This allowed hi...