A Concise Introduction to Robot Programming with ROS2

by Francisco Martín Rico

Overview

A Concise Introduction to Robot Programming with ROS2 provides the reader with the concepts and tools necessary to bring a robot to life through programming. It will equip the reader with the skills necessary to undertake projects with ROS2, the new version of ROS. It is not necessary to have previous experience with ROS2 as it will describe its concepts, tools, and methodologies from the beginning.

Key Features

• Uses the two programming languages officially supported in ROS2 (C++, mainly, and Python)
• Approaches ROS2 from three different but complementary dimensions: the Community, Computation Graph, and the Workspace
• Includes a complete simulated robot, development and testing strategies, Behavior Trees, and Nav2 description, setup, and use
• A GitHub repository with code to assist readers

It will appeal to motivated engineering students, engineers, and professionals working with robot programming.

Product Details

ISBN-13:	9781032264653
Publisher:	CRC Press
Publication date:	09/30/2022
Pages:	264
Product dimensions:	7.00(w) x 10.00(h) x (d)

About the Author

Francisco Martín Rico, Doctor Engineer in Robotics, is an Associate Professor at the Rey Juan Carlos University, where he leads the Intelligent Robotics Lab and teaches courses on Software Architectures and Middlewares for Robots, Mobile Robotics, Planning or Cognitive Systems. He is a reputed member of the ROS community, authoring and contributing to reference packages like ROS2 Planning System (Plansys2) and Nav2. He recently received the Best ROS Developer 2022 award.

Table of Contents

List of Figures

List of Tables

Introduction

First Steps First Behavior: Avoiding Obstacles with Finite States Machines

The TF Subsystem

Reactive Behaviors

Programming Robot Behaviors with Behavior Trees

Appendix: Source Code

Bibliography