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  • Mastering ROS 2 for Robotics Programming: Design, build, simulate, and prototype complex robots using the Robot Operating System 2
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Mastering ROS 2 for Robotics Programming: Design, build, simulate, and prototype complex robots using the Robot Operating System 2 4th ed. Edition

by Lentin Joseph (Author), Jonathan Cacace (Author)
4.6 out of 5 stars (16)
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Purchase options and add-ons

In this fourth edition, master ROS 2 by creating robotics software applications that integrate the latest technologies, like Generative AI and reinforcement learning, to build your custom robot

All formats include a free PDF and an invitation to the Embedded System Professionals community

Key Features

  • Get a solid understanding of ROS 2 core concepts and features from scratch
  • Design, simulate, and prototype robotic applications using ROS 2, C++, Python, and Gazebo
  • Gain hands-on experience with the latest technologies like GenAI and reinforcement learning, integrated with ROS 2 Jazzy
  • Purchase of the print or Kindle book includes a free PDF eBook

Book Description

The rising demand for advanced robotics software has made proficiency in frameworks like ROS 2 essential for engineers and enthusiasts alike.

Lentin Joseph, co-founder of RUNTIME Robotics, and Jonathan Cacace, PhD in robotics, help you grasp the foundational concepts and practical applications in this comprehensive fourth edition updated to cover the latest LTS release from 2024—ROS 2 Jazzy. Starting with a solid introduction to ROS 2, including core components and tools, the chapters get you ready to start programming and using its key features confidently. Building on this, the book focuses on 3D robot modeling and simulation with the new Gazebo Sim, supported by ROS 2 controllers. You’ll explore high-level features such as Nav2 for navigation and MoveIt 2 for manipulation, which are crucial for developing advanced systems. You'll also dive into aerial robotics with ROS 2 and learn how to build real-world robots using Micro-ROS. The concluding chapters cover advanced topics like CI/CD workflows, interfacing ROS 2 with large language model (LLM) agents for intelligent planning, and applying deep reinforcement learning for autonomy.

By the end of this book, you'll have a strong foundation in ROS 2, along with the skills needed to build sophisticated, real-world robotic applications.

What you will learn

  • Explore ROS 2 architecture, DDS, and communication interfaces in depth
  • Simulate various robots using Gazebo and ROS 2
  • Master Nav2 and MoveIt 2 in ROS 2
  • Explore ros2_control and Perception
  • Build and program a real mobile robot from scratch using Raspberry Pi board and ROS 2
  • Build LLM-based AI agents in ROS 2
  • Implement reinforcement learning applications in ROS 2, NVIDIA Isaac Lab, and Isaac Sim

Who this book is for

If you are a robotics enthusiast, researcher, or software professional looking to advance your skills in ROS 2, this book is for you. ROS developers who wish to explore the advanced features of ROS 2 will also find this book helpful. Basic knowledge of ROS, GNU/Linux, and C++, as well as Python programming concepts is necessary to get started with this book.

Table of Contents

  1. Introduction to ROS 2
  2. Getting Started with ROS 2 Programming
  3. Implementing ROS 2 Concepts
  4. Working with Robot 3D Modeling in ROS 2
  5. Simulating Robots in a Realistic Environment
  6. Controlling Robots Using the ros2_control Package
  7. Implementing ROS 2 Applications Using BehaviorTree dot CPP
  8. ROS 2 Navigation Stack: Nav2
  9. Robot Manipulation Using MoveIt 2
  10. Working with ROS 2 and Perception Stack
  11. Aerial Robotics and ROS 2
  12. Designing and Programming a DIY Mobile Robot from Scratch
  13. Testing, Continuous Integration, and Continuous Deployment with ROS 2
  14. Interfacing Large Language Models with ROS 2
  15. ROS 2 and Deep Reinforcement Learning
  16. Implementing ROS 2 Visualization and Simulation Plugins
Read more
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  1. ISBN-10
    1836209010
  2. ISBN-13
    978-1836209010
  3. Edition
    4th ed.
  4. Publisher
    Packt Publishing
  5. Publication date
    July 28, 2025
  6. Language
    English
  7. Dimensions
    7.5 x 1.3 x 9.25 inches
  8. Print length
    576 pages
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From the Publisher

Mastering ROS 2 for Robotics Programming
Mastering ROS 2 for Robotics Programming

Mastering ROS 2 for Robotics Programming

Introduction to ROS 2

Lay the foundation for advanced robotics development

  • Understand the architecture and communication layers of ROS 2
  • Learn about DDS (Data Distribution Service) and core ROS 2 tools
  • Get set up with ROS 2 Jazzy on your development system

Mastering ROS 2 for Robotics Programming

Simulating Robots in a Realistic Environment

Bridge the gap between code and physical hardware using simulation

  • Use the latest Gazebo Sim for robot testing
  • Simulate robotic environments and behavior before deployment
  • Integrate sensors, physics, and dynamic models for real-world fidelity

Mastering ROS 2 for Robotics Programming

Working with ROS 2 and Perception Stack

Utilize OpenCV and PCL libraries for image and 3D data processing

  • Interface vision systems using USB webcams and RealSense depth sensors
  • Accelerate vision tasks with GPU-based processing and machine learning
  • Apply object detection and classification using NVIDIA ROS ISAAC and YOLOv8

Mastering ROS 2 for Robotics Programming

Interfacing Large Language Models with ROS 2

Enhance Robot Intelligence with LLMs and AI Agents in ROS 2

  • Integrate Large Language Models (LLMs), Vision-Language Models (VLMs), and Action-Language Models (ALMs) for intelligent robotic control
  • Explore real-world ROS 2 AI agent applications with turtlesim, Nav2, MoveIt2, and advanced projects like ROSA, RAI, and ROS-LLM

Mastering ROS 2 for Robotics Programming

Deploying an RL model in the Spot robot from Boston Dynamics

Master DRL workflows in simulation with cutting-edge tools

  • Learn reinforcement learning fundamentals and how agents optimize behavior through environment interaction
  • Set up Isaac Lab on Ubuntu 24.04 using Docker to train robotic policies in simulation
  • Train a variety of robots—including UR-10, AnyMal, and H1 humanoid—using GPU-accelerated DRL algorithms

Mastering ROS 2 for Robotics Programming

ROS 2 and Deep Reinforcement Learning

Bridge the gap between simulation and physical robot deployment

  • Convert simulated training results into deployable models for physical robots using ROS 2
  • Implement task-specific DRL workflows with Gymnasium integration and Isaac Sim physics
  • Explore real-world deployment with a case study: transferring a locomotion model to Boston Dynamics’ Spot robot

Mastering ROS 2 for Robotics Programming: Design, build, simulate, and protot...
ROS 2 from Scratch: Get started with ROS 2 and create robotics applications w...
Learn Robotics Programming: Build and control cutting-edge AI robots with Ras...
Artificial Intelligence for Robotics: Build intelligent robots using ROS 2, P...
Customer Reviews
4.6 out of 5 stars 16
4.9 out of 5 stars 37
—
4.2 out of 5 stars 21
Price EUR 31.26 EUR 31.26 EUR 34.73 EUR 28.09
Audience Experienced ROS users and robotics professionals looking to deepen their skills in ROS 2. Beginners and hobbyists who want a hands-on, beginner-friendly introduction to ROS 2. Programmers and enthusiasts of all levels aiming to build AI-driven robots using Python. Robotics engineers and researchers applying AI/ML to advanced robotic systems with solid technical backgrounds.
Skill Level Intermediate to Advanced Beginner to Intermediate Beginner to Advanced Advanced
Prerequisites ROS basics, GNU/Linux, C++, Python Basic Linux CLI, Python (C++ optional) Python basics helpful Python, AI/ML concepts, electronics, Linux CLI, single-board computers
Learning Outcomes Advanced ROS 2 concepts, robot simulation with Gazebo, Nav2, MoveIt 2, perception, control, real hardware builds (Raspberry Pi), LLM agents, RL apps ROS 2 fundamentals, nodes, interfaces, URDF modeling, visualization with RViz, Gazebo integration, TF management Practical robotics with sensors, dashboards, OpenCV, Vosk voice control, encoder-based localization, automation scripts, performance algorithms AI/ML in robotics, path planning, decision trees, object recognition, NLP, genetic algorithms, personality simulation, obstacle avoidance
Key Differentiators Combines cutting-edge ROS 2 techniques with AI agents and reinforcement learning in real robots. The ultimate beginner’s guide for building a strong ROS 2 foundation with hands-on simulation. Focused on real-world robot control, computer vision, and sensor integration using Python. Brings AI to the forefront—perfect for integrating ML, NLP, and intelligence into your robots.

Editorial Reviews

About the Author

Lentin Joseph is an accomplished Indian roboticist, author, entrepreneur, and educator with over a decade of expertise in robotics software development, machine vision, and artificial intelligence. He is the founder and CTO of RUNTIME Robotics Pvt Ltd, an Indian company focused on R&D in robotics software development and artificial intelligence. He also runs robocademy, an online platform for robotics education. With strong proficiency in ROS, OpenCV, and PCL, Lentin has authored 10 widely acclaimed books on robotics, including Learning Robotics Using Python and Mastering ROS for Robotics Programming. He holds a bachelor's degree in Electronics and Communication Engineering from FISAT and a master's in Robotics and Automation from Amrita University. During his studies, he developed a gesture- and speech-interactive social robot that gained media attention. Lentin has also conducted research at Carnegie Mellon University's Robotics Institute, delivered a TEDx talk, and actively contributes to robotics education through workshops, blogs, and training programs.

Jonathan Cacace was born in Naples, Italy, on 13 December 1987. He earned a Bachelor's and Masters of Science in Computer Science from the University of Naples Federico II. He then joined the university's PhD program, earning the title of Philosophiae Doctor in Automation and Computer Engineering in 2016. During his research career, he had the opportunity to participate in and lead various applied research projects focused on robotics, funded by the European Union. This allowed him to explore several areas of robotics, ranging from robot manipulation to navigation. After completing his PhD, he continued his scientific research and work in applied robotics, contributing to more than 50 scientific publications in leading robotics conferences and scientific journals. He also worked as a private consultant for several startups across Europe. From 2019 to 2023. He worked as an assistant professor at the University of Naples, where he taught two courses: Laboratory of Robotics and Mobile Robotics. During this time, he mentored many undergraduate students in the field of Robotics and Computer Engineering. He was also invited to speak at an international robotics workshop held at one of Europe's most prestigious research centers and universities. Currently, Jonathan works as a senior researcher in the field of Cognitive Robotics and Human-Robot Interaction at Eurecat - Centre Tecnològic de Catalunya in Barcelona.

Product details

  • Publisher ‏ : ‎ Packt Publishing
  • Publication date ‏ : ‎ July 28, 2025
  • Edition ‏ : ‎ 4th ed.
  • Language ‏ : ‎ English
  • Print length ‏ : ‎ 576 pages
  • ISBN-10 ‏ : ‎ 1836209010
  • ISBN-13 ‏ : ‎ 978-1836209010
  • Item Weight ‏ : ‎ 2.15 pounds
  • Dimensions ‏ : ‎ 7.5 x 1.3 x 9.25 inches
  • Best Sellers Rank: #222,225 in Books (See Top 100 in Books)
  • Customer Reviews:
    4.6 out of 5 stars (16)

About the authors

Follow authors to get new release updates, plus improved recommendations.
Previous page
  1. Jonathan Cacace

    Jonathan Cacace

    Brief content visible, double tap to read full content.
    Full content visible, double tap to read brief content.

    Jonathan Cacace was born in Naples, Italy, on 13 December 1987. He earned a Bachelor’s and

    Masters of Science in Computer Science from the University of Naples Federico II. He then joined the university’s PhD program, earning the title of Philosophies Doctor in Automation and Computer Engineering in 2016.

    During his research career, he had the opportunity to participate in and lead various applied research projects focused on robotics, funded by the European Union. This

    allowed him to explore several areas of robotics, ranging from robot manipulation to navigation.

    After completing his PhD, he continued his scientific research and work in applied robotics, contributing to more than 50 scientific publications in leading robotics conferences and scientific journals. He also worked as a private consultant for several startups across Europe. From 2019 to 2023. He worked as an assistant professor at the University of Naples, where he taught two courses: Laboratory of Robotics and Mobile Robotics. During this time, he mentored many undergraduate students in the field of Robotics and Computer Engineering. He was also invited to speak at an international robotics workshop held at one of Europe’s most prestigious research

    centers and universities.

    Currently, Jonathan works as a senior researcher in the field of Cognitive Robotics and Human-Robot Interaction at Eurecat - Centre Tecnològic de Catalunya in Barcelona.

    See more on the author's page
  2. Lentin Joseph

    Lentin Joseph

    Brief content visible, double tap to read full content.
    Full content visible, double tap to read brief content.

    Lentin Joseph is an accomplished Indian roboticist, author, entrepreneur, and educator with over a decade of expertise in robotics software development, machine vision, and artificial intelligence. He is the founder and CTO of RUNTIME Robotics Pvt Ltd, an Indian company focused on R&D in robotics software development and artificial intelligence. With strong proficiency in ROS, OpenCV, and PCL, Lentin has authored 11 widely acclaimed books on robotics, including Learning Robotics Using Python and Mastering ROS for Robotics Programming. He holds a bachelor’s degree in Electronics and Communication Engineering from FISAT and a master’s in Robotics and Automation from Amrita University. Lentin has also conducted research at Carnegie

    Mellon University’s Robotics Institute delivered a TEDx talk and actively contributes to robotics education through workshops, blogs, and training programs.

    See more on the author's page
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Customer reviews

4.6 out of 5 stars
16 global ratings
Nice to have
5 out of 5 stars
Nice to have
Nice book to have. It includes multiple topics in ROS 2, like AI, MoveIt, Nav2, etc. Good to be added to the collection
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Top reviews from the United States

  • CAM
    5.0 out of 5 stars Well-written, Detailed, but Concise and Well-Organized.
    Reviewed in the United States on October 17, 2025
    Format: PaperbackVerified Purchase
    A very-well organized book! I believe it starts out in the right place - explaining what ROS2 is in a nutshell and then explaining how it works - removed from any specific implementation. If you are technically inclined, have done some software development and dabbled a little with drones, rovers, and/or robotics, this books is for you. Detailed, yet concise explanations - and a good logical flow.
    Helpful
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  • Riley
    5.0 out of 5 stars Great projects included
    Reviewed in the United States on September 3, 2025
    Format: PaperbackVerified Purchase
    I think this is a great book and I used it myself to create some of my personal projects!
    Helpful
     Report
  • Juan Carlos Tique Rangel
    4.0 out of 5 stars Good for beggingers
    Reviewed in the United States on September 5, 2025
    Format: Paperback
    The book covers interesting topics. But would be better if they focus deeply in a topic more than going to s GitHub Repo and copy paste from it. Otherwise it is an excellent for beginners and helps a lot in the learning curve for ROS
    Helpful
     Report
  • Zehra G.
    5.0 out of 5 stars it s different than usual “introductory-level” ROS2 books, recommended!
    Reviewed in the United States on August 20, 2025
    Format: Paperback
    At the beginning, it introduces the essential requirements for working with ROS2, which is very helpful for building a solid foundation. What impressed me most is that it doesn’t just stop at the basics, later chapters dive into LLMs, agents, and reinforcement learning. This makes it stand out from the usual “introductory-level” ROS2 books and makes it much more practical and up to date. The content feels very well-prepared, current, and useful. Overall, it’s a fantastic resource for anyone who wants to go beyond the basics of ROS2. Highly recommended!
    One person found this helpful
    Helpful
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  • Harry
    5.0 out of 5 stars Nice to have
    Reviewed in the United States on September 3, 2025
    Format: Paperback
    Nice book to have. It includes multiple topics in ROS 2, like AI, MoveIt, Nav2, etc. Good to be added to the collection
    Customer image
    Harry
    5.0 out of 5 stars
    Nice to have

    Reviewed in the United States on September 3, 2025
    Nice book to have. It includes multiple topics in ROS 2, like AI, MoveIt, Nav2, etc. Good to be added to the collection
    Images in this review
    Customer image
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  • DM
    2.0 out of 5 stars Its a manual to a git hub and nothing more.
    Reviewed in the United States on August 29, 2025
    Format: Paperback
    It’s a manual to a git hub and nothing more. They literally use words like "creating" (as in "Creating the configuration files") and the instructions is nothing more than "go to the [git hub folder path] copy the file from there. There are no real explanation/details of what is in that file enough you can use your own imagination to create it yourself, so it is impossible to "Master" anything if the book does not offer enough details to create your own. This theme follows throughout the whole book. It is nothing more than a manual to a git hub that, if you can point your choice of AI to, can produce a better explanation that this book provides. 2 Stars for the git hub effort, but I will be returning my copy.
    One person found this helpful
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  • Tanmay Samak
    5.0 out of 5 stars A must-have for robotics developers transitioning to or scaling up with ROS 2.
    Reviewed in the United States on August 8, 2025
    Format: Paperback
    "Mastering ROS 2 for Robotics Programming" is a comprehensive and practical guide for intermediate to advanced robotics developers looking to deepen their expertise in Robot Operating System 2 (ROS 2). Although the book primarily focuses on robotics software development with ROS 2, it also touches the end-to-end process of robot development — from designing and simulating robot behaviors, to prototyping and building custom robotic systems. One of its key strengths is the hands-on approach, with real-world examples and projects that walk the reader through ROS 2 core concepts and slowly build towards advanced algorithms, tools, and robotics applications.
    Helpful
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  • Achu
    5.0 out of 5 stars It’s more than an intro; it’s a roadmap to building and deploying real-world ROS 2 systems.
    Reviewed in the United States on September 10, 2025
    Format: Paperback
    I brought this book to serve as a reference for ROS2 syntax, but it surprised me. It is not just an intro to ROS2, but a tour of the bigger robotics picture - It doesn’t just teach ROS 2 syntax, It walks you through the full stack of robotics: beginning with the basics, then slowly moving to manipulation and planning with Moveit 2, navigation with Nav2 even using drones in addition to the usual wheeled robot navigation, simulation (Gazebo, Webots, Isaac Sim), control with ros2_control, behavior trees with BehaviorTree.CPP, perception pipelines, plus modern topics like CI/CD, LLM-powered agents, and deep reinforcement learning - all tied to clean package design and production-ready workflows.

    The writing is clear, examples are ready to run and well documented and does not over burden with the math/theory behind them, explaining enough theory to understand why something matters.

    Bottom Line : Five stars. It’s more than an intro; more like a roadmap to building and deploying real-world ROS 2 systems.
    Customer image
    Achu
    5.0 out of 5 stars
    It’s more than an intro; it’s a roadmap to building and deploying real-world ROS 2 systems.

    Reviewed in the United States on September 10, 2025
    I brought this book to serve as a reference for ROS2 syntax, but it surprised me. It is not just an intro to ROS2, but a tour of the bigger robotics picture - It doesn’t just teach ROS 2 syntax, It walks you through the full stack of robotics: beginning with the basics, then slowly moving to manipulation and planning with Moveit 2, navigation with Nav2 even using drones in addition to the usual wheeled robot navigation, simulation (Gazebo, Webots, Isaac Sim), control with ros2_control, behavior trees with BehaviorTree.CPP, perception pipelines, plus modern topics like CI/CD, LLM-powered agents, and deep reinforcement learning - all tied to clean package design and production-ready workflows.

    The writing is clear, examples are ready to run and well documented and does not over burden with the math/theory behind them, explaining enough theory to understand why something matters.

    Bottom Line : Five stars. It’s more than an intro; more like a roadmap to building and deploying real-world ROS 2 systems.
    Images in this review
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Top reviews from other countries

  • j.r.
    5.0 out of 5 stars Recommended as a text book for a ROS2 course.
    Reviewed in the Netherlands on September 3, 2025
    Format: PaperbackVerified Purchase
    The book has a broad scope and there are many subjects that receive attention. ROS2 can be a daunting subject needing a lot of persistence to master. As an educator teaching students embedded systems and control related subjects i recommend the book as a textbook for a course where students learn by doing and discovering with guidance from a book as well as an instructor. Do not expect to just copy and paste. Instead expect to be pointed in the right direction.
    Report
  • Julian W Francis
    5.0 out of 5 stars Good balance of theory and practice.
    Reviewed in the United Kingdom on October 7, 2025
    Format: PaperbackVerified Purchase
    Good coverage of ROS2 overall. Quite detailed on nodes/actions/parameters etc. I liked the NAV2 coverage and also Moveit. Good overall coverage of ROS2 control (albeit missing some explanations like how to deal with gear ratios/transmissions), but otherwise quite detailed. The Amazon TOC implied microROS would be covered, but it wasn't really at all. Behavour trees was nicely covered as was QoS. Primarily aimed at C++ programmers, but that's ok as eg ROS2 control requires C++. Good balance of theory and practice. Liked the book very much.
    Report
  • kumar
    5.0 out of 5 stars ROS2 Book
    Reviewed in France on September 9, 2025
    Format: PaperbackVerified Purchase
    Latest ROS 2 coverage, advanced workflows
    Report
  • krishnamohan
    4.0 out of 5 stars C++ focused
    Reviewed in India on September 8, 2025
    Format: KindleVerified Purchase
    Good for C++ based implementation.
    Report
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