ROS Index
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Repository Summary
| Description | ROS 2 Robotics Development: From Fundamentals to Practice - Companion Code Repository | 《ROS 2机器人开发：从入门到实践》 书籍配套代码 |
| Checkout URI | https://github.com/fishros/ros2bookcode.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-04 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| learn_compose | 0.0.0 |
| learn_dds_cpp | 0.0.0 |
| learn_executor_cpp | 0.0.0 |
| learn_executor_py | 0.0.0 |
| learn_lifecyclenode_cpp | 0.0.0 |
| learn_lifecyclenode_py | 0.0.0 |
| learn_message_filter_cpp | 0.0.0 |
| learn_message_filter_py | 0.0.0 |
| learn_qos_cpp | 0.0.0 |
| learn_qos_py | 0.0.0 |
| demo_cpp_pkg | 0.0.0 |
| demo_python_pkg | 0.0.0 |
| status_display | 0.0.0 |
| status_interfaces | 0.0.0 |
| status_publisher | 0.0.0 |
| demo_cpp_topic | 0.0.0 |
| demo_python_topic | 0.0.0 |
| chapt4_interfaces | 0.0.0 |
| demo_cpp_service | 0.0.0 |
| demo_python_service | 0.0.0 |
| demo_cpp_tf | 0.0.0 |
| demo_python_tf | 0.0.0 |
| learn_git | 0.0.0 |
| fishbot_description | 0.0.0 |
| autopatrol_interfaces | 0.0.0 |
| autopatrol_robot | 0.0.0 |
| fishbot_application | 0.0.0 |
| fishbot_application_cpp | 0.0.0 |
| fishbot_navigation2 | 0.0.0 |
| nav2_custom_controller | 0.0.0 |
| nav2_custom_planner | 0.0.0 |
| motion_control_system | 0.0.0 |
| fishbot_bringup | 0.0.0 |
README
ROS 2机器人开发：从入门到实践 / ROS 2 Robot Development: From Beginner to Practice
书籍配套代码 / Book Companion Code
机器人开发是一项复杂的系统工程，ROS 2为智能机器人开发提供了强有力的支持，极大地提高了机器人软件开发效率。本书首先对ROS 2的基础概念、通信机制、常用库和工具进行介绍，带领读者入门ROS 2机器人开发；接着引导读者完成移动机器人的建模和仿真、建图和导航、自定义控制器和规划器等一系列实践；然后在真机实战环节，通过制作一个基于ROS 2的真实机器人，帮助读者打通仿真与真机之间的壁垒；最后，本书深入讲解了ROS 2进阶使用的相关知识，为读者进一步在实战中使用ROS 2进行机器人开发打下夯实基础。考虑读者基础，书中示例均以C++和Python两种语言实现，同时加入了关于C++新特性、Git工具、多线程和回调函数等基础知识的讲解。
Robot development is a complex system engineering task. ROS 2 provides robust support for intelligent robot development, significantly improving the efficiency of robot software development. This book first introduces the fundamental concepts, communication mechanisms, common libraries, and tools of ROS 2 to guide readers into ROS 2 robot development. It then leads readers through practical tasks such as mobile robot modeling and simulation, mapping and navigation, and custom controllers and planners. In the real-world implementation section, by building an actual ROS 2-based robot, the book helps readers bridge the gap between simulation and real hardware. Finally, it dives into advanced ROS 2 topics, laying a solid foundation for further practical applications. To accommodate diverse reader backgrounds, all examples are implemented in both C++ and Python, with additional explanations on modern C++ features, Git tools, multithreading, and callback functions.
配套代码介绍 / Companion Code Introduction
本项目为《ROS 2机器人开发：从入门到实践》书籍配套代码，包含ROS 2机器人开发相关的示例代码。
This project contains companion code for the book ROS 2 Robot Development: From Beginner to Practice, including example code related to ROS 2 robot development.