دانلود کتاب تسلط بر ROS 2 برای برنامه‌نویسی رباتیک -طراحی، ساخت، شبیه‌سازی و نمونه‌سازی اولیه ربات‌های پیچیده با استفاده از سیستم عامل ربات ۲

ROS 2, the Robot Operating System 2, is a major milestone in robotics software development. More than just a tool, it is a modular, open-source ecosystem designed to support the creation of scalable, distributed, and intelligent robotic systems. Its adoption has grown rapidly across sectors—from startups developing autonomous robots, to aerospace and manufacturing companies, to leading research institutions—thanks to its strong community, robust architecture, and a rich set of tools that streamline the development of complex robotics applications. Mastering ROS 2 for Robotics Programming is a comprehensive guide designed for developers and roboticists who want to go beyond the basics and learn how to leverage the full capabilities of ROS 2. Whether you’re building mobile robots, manipulators, drones, or hybrid systems, this book will provide you with the knowledge and practical skills needed to develop and integrate advanced robotic behaviors using ROS 2. We will begin by introducing the ROS 2 architecture and programming model, guiding you through setting up your development environment and creating your first nodes using C++. From there, we will cover key ROS 2 concepts—topics, services, actions, parameters, and launch systems—providing real-world examples along the way. As we move forward, you’ll learn how to:
• Build 3D models of robots and use them with simulators like Gazebo to test behavior in realistic environments • Implement robot control systems with the ros2_control framework • Develop behavior trees for task planning using the BehaviorTree.CPP library • Use ROS 2 Navigation Stack (Nav2) to enable autonomous movement • Apply robot manipulation with MoveIt 2 for grasping and motion planning • Incorporate sensor data and vision systems into perception pipelines • Work with aerial robots using ROS 2 interfaces and control systems
Advanced chapters will introduce you to modern practices, such as writing tests, setting up continuous integration and deployment pipelines for ROS 2 packages, and using cloud-native tools to build robust robotics software. You’ll also explore how to interface ROS 2 with artificial intelligence, including:
• Task planning using large language models • Training reinforcement learning agents with ROS 2 environments • Creating custom visualization and simulation plugins for more interactive development
Additionally, you will learn how to connect motors with ROS 2 nodes using Raspberry Pi boards. This book is filled with practical examples helping you improve programming ROS 2 applications. The code examples in the book are based on ROS 2’s jazzy, the latest long-term-support distributions and compatible with widely used robot platforms. We hope this book becomes a valuable companion in your own robotics journey and helps you to truly master ROS 2.