Название: A Concise Introduction to Robot Programming with ROS 2, 2nd EditionАвтор: Francisco Martín Rico
Издательство: CRC Press
Год: 2025
Страниц: 256
Язык: английский
Формат: epub (true)
Размер: 10.1 MB
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.
This book will provide the skills necessary to undertake projects in ROS 2, the new version of ROS. It is unnecessary to have previous experience in ROS 2 since we will describe its concepts, tools, and methodologies from the beginning without the need for previous experience. We will assume average Linux and programming skills. We will use the two programming languages officially supported in ROS 2 (C++ and Python), which coincide with the languages most used in general in Robotics.
We will use C++ as the book's preferred language, although our first examples also include a Python one. We can develop complex and powerful projects in Python, but in my experience with robots, I prefer to use a compiled language rather than an interpreted one. Similarly, the concepts explained with C++ are equally valid with Python. Another decision is to use Linux (specifically Ubuntu GNU / Linux 24.04 LTS) instead of Windows or Mac since it is the reference platform in ROS 2 and the one that I consider predominant in Robotics.
I will assume that the reader is a motivated engineering student or an experienced engineer/professional. We will be using many C++ features up to C++17, including smart pointers (shared_ptr and unique_ptr), containers (vector, list, map), generic programming, and more. I will try to explain complex code parts from a language point of view, but the less advanced reader may need to consult some references. I also count on the reader to know CMake, Git, gdb, and other common tools developers use in Linux environments. It can be a great time to learn it if you do not know it because everything used in this book is what a robot programmer is expected to know.
Uses the two programming languages officially supported in ROS 2 (C++, mainly, and Python)
Approaches ROS 2 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.
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