A very informal journey through ROS 2
A very informal journey through ROS 2
patterns, anti-patterns, frameworks and best practices
About the Book
A very informal journey through the new edition of the Robot Operative System: ROS 2. This book will bring you through the most common patterns and frameworks used by software engineers while creating software based on this framework. It will try to do that with an informal tone that hopefully won't make you fall asleep in the process.
About the Author
Table of Contents
- 1 Introduction
- 2 The Node
- 3 Callbacks and Executors
- 3.1 The callback
- 3.2 The executors
- 3.3 The callback groups
- 3.4 Avoiding Multithreading
- 3.5 Deterministic execution
- 4 Interfaces
- 4.1 Internal interfaces
- 4.2 Policies
- 4.3 Topics
- 4.3.1 Specifying the desired QoS profiles
- 4.3.2 When should you use a Topic interface?
- 4.3.3 Naming your topic
- 4.3.4 Namespaces
- 4.3.5 Lazy publishers and subscribers
- 4.4 Services
- 4.4.1 Services in ROS1
- 4.4.2 Services in ROS 2
- 4.4.3 Services introspection
- 4.4.4 When should you use a service?
- 4.5 Actions
- 4.6 Standard and custom interfaces
- 4.7 Type adaptation
- 5 Tasks organization
- 5.1 Sequential code
- 5.2 State machines
- 5.3 Behavior trees
- 5.4 Higher levels of tasks organization and task planning
- 5.5 Which framework is the right one for my project?
- 6 Integrating controllers in ROS 2
- 6.1 The biggest enemy of a controller: delays
- 6.2 ROS 2 control
- 6.3 Domain-specific control frameworks
- 7 Testing your code
- 7.1 Unit testing
- 7.2 Component tests
- 7.3 Integration tests
- 7.4 Simulation based tests
- 7.5 Testing on the hardware
- 8 Parameters management
- 8.1 Where are parameters loaded?
- 8.2 Dynamic parameters updates
- 8.3 Default parameters are evil
- 8.4 Defining parameter layers
- 8.5 Too many parameters?
- 8.6 Storing parameters programmatically
- 9 Logging messages
- 10 Conclusions
- 11 Solutions
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