Mastering ROS 2 for Robotics Programming - Fourth Edition: Design, build, simulate, and prototype complex robots using the Robot Operating System 2
暫譯: 精通 ROS 2 機器人程式設計 - 第四版：使用機器人作業系統 2 設計、建造、模擬和原型複雜機器人

Joseph, Lentin, Cacace, Jonathan

Mastering ROS 2 for Robotics Programming - Fourth Edition: Design, build, simulate, and prototype complex robots using the Robot Operating System 2

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商品描述

In this fourth edition, master ROS 2 by creating robotics software applications that integrate the latest technologies, like Generative AI and reinforcement learning, to build your custom robot

Key Features

  • Get a solid understanding of ROS 2 core concepts and features from scratch
  • Design, simulate, and prototype robotic applications using ROS 2, C++, Python, and Gazebo
  • Gain hands-on experience with the latest technologies like GenAI and reinforcement learning, integrated with ROS 2 Jazzy
  • Purchase of the print or Kindle book includes a free PDF eBook

Book Description

The rising demand for advanced robotics software has made proficiency in frameworks like ROS 2 essential for engineers and enthusiasts alike.

Lentin Joseph, co-founder of RUNTIME Robotics, and Jonathan Cacace, PhD in robotics, help you grasp the foundational concepts and practical applications in this comprehensive fourth edition updated to cover the latest LTS release from 2024—ROS 2 Jazzy. Starting with a solid introduction to ROS 2, including core components and tools, the chapters get you ready to start programming and using its key features confidently. Building on this, the book focuses on 3D robot modeling and simulation with the new Gazebo Sim, supported by ROS 2 controllers. You’ll explore high-level features such as Nav2 for navigation and MoveIt 2 for manipulation, which are crucial for developing advanced systems. You'll also dive into aerial robotics with ROS 2 and learn how to build real-world robots using Micro-ROS. The concluding chapters cover advanced topics like CI/CD workflows, interfacing ROS 2 with large language model (LLM) agents for intelligent planning, and applying deep reinforcement learning for autonomy.

By the end of this book, you'll have a strong foundation in ROS 2, along with the skills needed to build sophisticated, real-world robotic applications.

What you will learn

  • Explore ROS 2 architecture, DDS, and communication interfaces in depth
  • Simulate various robots using Gazebo and ROS 2
  • Master Nav2 and MoveIt 2 in ROS 2
  • Explore ros2_control and Perception
  • Build and program a real mobile robot from scratch using Raspberry Pi board and ROS 2
  • Build LLM-based AI agents in ROS 2
  • Implement reinforcement learning applications in ROS 2, NVIDIA Isaac Lab, and Isaac Sim

Who this book is for

If you are a robotics enthusiast, researcher, or software professional looking to advance your skills in ROS 2, this book is for you. ROS developers who wish to explore the advanced features of ROS 2 will also find this book helpful. Basic knowledge of ROS, GNU/Linux, and C++, as well as Python programming concepts is necessary to get started with this book.

商品描述(中文翻譯)

在這第四版中，透過創建整合最新技術（如生成式人工智慧和強化學習）的機器人軟體應用程式，掌握 ROS 2，來構建您的自訂機器人。

主要特點

- 從零開始深入了解 ROS 2 的核心概念和特性
- 使用 ROS 2、C++、Python 和 Gazebo 設計、模擬和原型機器人應用程式
- 獲得與 ROS 2 Jazzy 整合的最新技術（如 GenAI 和強化學習）的實作經驗
- 購買印刷版或 Kindle 版書籍可獲得免費 PDF 電子書

書籍描述

對於先進機器人軟體的需求日益增加，使得對 ROS 2 等框架的熟練掌握對於工程師和愛好者來說變得至關重要。

RUNTIME Robotics 的共同創辦人 Lentin Joseph 和機器人學博士 Jonathan Cacace 將幫助您掌握這本全面更新的第四版中的基礎概念和實用應用，涵蓋最新的 2024 年 LTS 版本——ROS 2 Jazzy。從對 ROS 2 的堅實介紹開始，包括核心組件和工具，這些章節將幫助您自信地開始編程並使用其關鍵特性。在此基礎上，本書專注於使用新的 Gazebo Sim 進行 3D 機器人建模和模擬，並由 ROS 2 控制器支持。您將探索高級功能，如用於導航的 Nav2 和用於操作的 MoveIt 2，這些對於開發先進系統至關重要。您還將深入了解使用 ROS 2 的空中機器人技術，並學習如何使用 Micro-ROS 構建現實世界的機器人。最後幾章涵蓋了高級主題，如 CI/CD 工作流程、將 ROS 2 與大型語言模型（LLM）代理進行接口以實現智能規劃，以及應用深度強化學習以實現自主性。

在本書結束時，您將對 ROS 2 擁有堅實的基礎，並具備構建複雜現實世界機器人應用程式所需的技能。

您將學到的內容

- 深入探索 ROS 2 架構、DDS 和通信接口
- 使用 Gazebo 和 ROS 2 模擬各種機器人
- 精通 ROS 2 中的 Nav2 和 MoveIt 2
- 探索 ros2_control 和感知
- 使用 Raspberry Pi 板和 ROS 2 從零開始構建和編程一個真正的移動機器人
- 在 ROS 2 中構建基於 LLM 的 AI 代理
- 在 ROS 2、NVIDIA Isaac Lab 和 Isaac Sim 中實現強化學習應用程式

本書適合誰

如果您是機器人愛好者、研究人員或希望提升 ROS 2 技能的軟體專業人士，本書適合您。希望探索 ROS 2 高級功能的 ROS 開發者也會發現本書有幫助。開始閱讀本書需要具備基本的 ROS、GNU/Linux 和 C++ 知識，以及 Python 編程概念。

目錄大綱

  1. Introduction to ROS 2
  2. Getting Started with ROS 2 Programming
  3. Implementing ROS 2 Concepts
  4. Working with Robot 3D Modeling in ROS 2
  5. Simulating Robots in a Realistic Environment
  6. Controlling Robots Using the ros2_control Package
  7. Implementing ROS 2 Applications Using BehaviorTree dot CPP
  8. ROS 2 Navigation Stack: Nav2
  9. Robot Manipulation Using MoveIt 2
  10. Working with ROS 2 and Perception Stack
  11. Aerial Robotics and ROS 2
  12. Designing and Programming a DIY Mobile Robot from Scratch
  13. Testing, Continuous Integration, and Continuous Deployment with ROS 2
  14. Interfacing Large Language Models with ROS 2
  15. ROS 2 and Deep Reinforcement Learning
  16. Implementing ROS 2 Visualization and Simulation Plugins

目錄大綱(中文翻譯)


  1. Introduction to ROS 2

  2. Getting Started with ROS 2 Programming

  3. Implementing ROS 2 Concepts

  4. Working with Robot 3D Modeling in ROS 2

  5. Simulating Robots in a Realistic Environment

  6. Controlling Robots Using the ros2_control Package

  7. Implementing ROS 2 Applications Using BehaviorTree dot CPP

  8. ROS 2 Navigation Stack: Nav2

  9. Robot Manipulation Using MoveIt 2

  10. Working with ROS 2 and Perception Stack

  11. Aerial Robotics and ROS 2

  12. Designing and Programming a DIY Mobile Robot from Scratch

  13. Testing, Continuous Integration, and Continuous Deployment with ROS 2

  14. Interfacing Large Language Models with ROS 2

  15. ROS 2 and Deep Reinforcement Learning

  16. Implementing ROS 2 Visualization and Simulation Plugins

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