A Concise Introduction to Robot Programming with ROS2 1st Edition by Francisco Martin Rico 1000629813 9781000629811

Chapter 1 ◾ Introduction

1.1 ROS 2 Overview

1.1.1 The ROS Community

1.1.2 The Computation Graph

1.1.3 The Workspace

1.2 The ROS 2 Design

1.3 About This Book

Chapter 2 ◾ First Steps

2.1 First Steps With ROS 2

2.2 Developing the First Node

2.3 Analyzing the BR2_BASICS Package

2.3.1 Controlling the Iterative Execution

2.3.2 Publishing and Subscribing

2.3.3 Launchers

2.3.4 Parameters

2.3.5 Executors

2.4 Simulated Robot Setup

Chapter 3 ◾ First Behavior: Avoiding Obstacles with Finite States Machines

3.1 Perception and Actuation Models

3.2 Computation Graph

3.3 Bump and Go in C++

3.3.1 Execution Control

3.3.2 Implementing a FSM

3.3.3 Running the Code

3.4 Bump and go Behavior in Python

3.4.1 Execution Control

3.4.2 Implementing the FSM

3.4.3 Running the Code

Chapter 4 ◾ The TF Subsystem

4.1 An Obstacle Detector that Uses TF2

4.2 Computation Graph

4.3 Basic Detector

4.3.1 Obstacle Detector Node

4.3.2 Obstacle Monitor Node

4.3.3 Running the Basic Detector

4.4 Improved Detector

4.4.1 Running the Improved Detector

Chapter 5 ◾ Reactive Behaviors

5.1 Avoiding Obstacles with VFF

5.1.1 The Computation Graph

5.1.2 Package Structure

5.1.3 Control Logic

5.1.4 Calculation of the VFF Vectors

5.1.5 Debugging with Visual Markers

5.1.6 Running the AvoidanceNode

5.1.7 Testing During Development

5.2 Tracking Objects

5.2.1 Perception and Actuation Models

5.2.2 Computation Graph

5.2.3 Lifecycle Nodes

5.2.4 Creating Custom Messages

5.2.5 Tracking Implementation

5.2.6 Executing the Tracker

Chapter 6 ◾ Programming Robot Behaviors with Behavior Trees

6.1 Behavior Trees

6.2 Bump and go with Behavior Trees

6.2.1 Using Groot to Create the Behavior Tree

6.2.2 BT Nodes Implementation

6.2.3 Running the Behavior Tree

6.2.4 Testing the BT Nodes

6.3 Patrolling with Behavior Trees

6.3.1 Nav2 Description

6.3.2 Setup Nav2

6.3.3 Computation Graph and Behavior Tree

6.3.4 Patrolling Implementation

6.3.5 Running Patrolling

Appendix A ▪ Source Code

A.1 Package BR2_BASICS

A.2 Package BR2_FSM_BUMPGO_CPP

A.3 Package BR2_FSM_BUMPGO_PY

A.4 Package BR2_TF2_DETECTOR

A.5 Package BR2_VFF_AVOIDANCE

A.6 Package BR2_TRACKING_MSGS

A.7 Package BR2_TRACKING

A.8 Package BR2_BT_BUMPGO

A.9 Package BR2_BT_PATROLLING

Bibliography