A very informal journey through ROS 2: patterns, anti-patterns, frameworks and best practices

Contents\nIntroduction\n	ROS 2\nROS 2\n	Why this book?\nWhy this book?\n	How and when to read this book\nHow and when to read this book\nThe Node\n	How to (properly) instantiate it\nHow to (properly) instantiate it\nComponents and when to use them\n	The Node types\nThe Node types\nManaged Nodes\nCustom base nodes\n	Using nodes in the interfaces\nUsing nodes in the interfaces\nGeneric node interfaces\nCallbacks and Executors\n	The callback\nThe callback\n	The executors\nThe executors\n	The callback groups\nThe callback groups\n	Deterministic execution\nDeterministic execution\nWaitSet\nMicro-ROS and the rclc Executor\nInterfaces\n	Internal interfaces\nInternal interfaces\n	Policies\nPolicies\nProfiles\nCompatibility of policies\n	Topics\nTopics\nSpecifying the desired Qos profiles\nWhen should you use a Topic interface?\nNaming your topic\nNamespaces\nLazy publishers and subscribers\n	Services\nServices\nServices in ROS1\nServices in ROS 2\nServices introspection\nWhen should you use a service?\n	Actions\nActions\n	Standard and custom interfaces\nStandard and custom interfaces\nTasks organization\n	Sequential code\nSequential code\n	State machines\nState machines\n	Behavior trees\nBehavior trees\nHow do BTs work?\nBehavior trees in ROS 2\n	Higher levels of tasks organization and task planning\nHigher levels of tasks organization and task planning\nFlexBE\nSkiros2\nTask planning: Plansys2\n	Which framework is the right one for my project?\nWhich framework is the right one for my project?\nIntegrating controllers in ROS 2\n	The biggest enemy of a controller: delays\nThe biggest enemy of a controller: delays\nSources of delays\nMaking your system deterministic\nDo you need determinism?\n	ROS 2 control\nROS 2 control\n	Domain-specific control frameworks\nDomain-specific control frameworks\nNav2\nMoveIt2\nTesting your code\n	Unit testing\nUnit testing\nGTests in ROS 2\nUnittest and Pytest in ROS 2\n	Component tests\nComponent tests\nPython component tests\nC++ component tests\n	Integration tests\nIntegration tests\n	Simulation based tests\nSimulation based tests\nSimulators in ROS 2\n	Testing on the hardware\nTesting on the hardware\nParameters management\n	Where are parameters loaded?\nWhere are parameters loaded?\nHow are parameters accessed from the code?\nParameters description\n	Dynamic parameters updates\nDynamic parameters updates\nParameters without declaration\n	Default parameters are evil\nDefault parameters are evil\n	Defining parameter layers\nDefining parameter layers\nAn example\n	Too many parameters?\nToo many parameters?\n	Storing parameters programmatically\nStoring parameters programmatically\nLogging messages\n	Logging a message\nLogging a message\nChoosing the severity level\nAvailable macros\n	Enabling and disabling log functionalities\nEnabling and disabling log functionalities\nLogging channels, options, and environment variables\nDifferent types of loggers\nChanging the log severity level at runtime\nConclusions\n	Feedback please\nFeedback please\n	Final tips\nFinal tips\nSolutions\n	Chapter 2\nChapter 2\n	Chapter 3\nChapter 3\n	Chapter 4\nChapter 4\n	Chapter 9\nChapter 9