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.
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.