RCLPY: From Zero to Hero

Your comprehensive, hands-on guide to mastering ROS 2 with Python. Learn to build robust modular robotic systems through practical examples and detailed explanations.

What You’ll Learn

• Master ROS 2 fundamentals
• Build modular robot systems
• Hands-on Python implementation
• Best practices for robotics software

Look Inside the Book

What You Will Learn

Whether you’re just starting out with mobile robotics or want to deepen your knowledge, this book offers clear, practical guidance on everything. With no prior knowledge required, it gives you a solid foundation in the Linux shell and takes you from ROS 2 and mobile robotics basics through advanced topics such as state estimation, motion control, and service-oriented architectures using ROS 2. Get ready to build real robotic applications with step-by-step examples that bring theory to life using the Gazebo physics simulation engine!

Part 1: The Foundation

In this book, you’ll start by understanding the core concepts of ROS 2 – from packages, nodes and topics to services, actions, dynamic parameter management and lifecycle management. With detailed chapters on differential drive kinematics, closed-loop control, and sensor fusion, you’ll learn not only how to program robots using rclpy, but also how to tackle challenges such as state estimation using Kalman and extended Kalman filters. Each concept is paired with practical examples, exercises and solutions, and homework to reinforce your learning. Key topics include:

• Setting up your development environment
• Understanding the ROS 2 graph
• Creating your first nodes in Python
• Implementing publishers and subscribers
• Working with services and actions
• Differential drive kinematics and control

Mastering the terminal environment for ROS 2 development

Part 2: Advanced Concepts

After learning about ROS 2 basics, the book takes you on a deep dive into advanced ROS 2 topics and techniques such as Multi-Threading with the MultiThreadedExecutor, broadcasting and listening to coordinate transformations using TF2, dynamic parameter updates using callbacks to fine tune algorithm performance, using ROS 2 Lifecycle Management System and more. These advanced chapters empower you to design sophisticated, responsive robotic systems ready for real-world deployment. Key topics include:

• Multi-Threading with MultiThreadedExecutor
• Broadcasting and listening to coordinate transformations using TF2
• Dynamic parameter updates using callbacks
• Using ROS 2 Lifecycle Management System
• Sensor fusion with Kalman and extended Kalman filters

Simulating complex drone dynamics

Empowering Your Learning with a Preconfigured Docker Container​

Accompanying the book is a tailored container image containing all necessary ROS 2 tools, libraries and robot simulations. It’s designed to work across various platforms—be it Windows, Linux, or macOS—and supports advanced features like GPU acceleration for enhanced performance.

Visualizing robot states with TF