Visual Textbook · 20 Complete Chapters
ROS 2: Zero to Robot
From First Node to Real Autonomous Mobile Robot — from a simple Node to the complete industrial architecture of ARCHO in the warehouse
This table of contents lays out all 20 chapters of the book in learning order. Each chapter builds on the concepts of the previous ones, so it's best to read them in this order. Click any card to open that chapter.
Part One — ROS 2 Foundations
1
ROS 2 Architecture
Node, Topic, Service, Action, Parameter, and Launch File
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2
The ROS 2 Development Environment
Workspace, Package, and your first real Node
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3
Practical Communication with ARCHO
Real Pub/Sub, Service, Action, and a complete Launch File
←
Part Two — Building ARCHO's Body
4
ARCHO's Body — URDF and Xacro
Links, Joints, wheels, sensors, and the complete body structure
←
5
TF2 and Coordinate Frames
The TF tree, static and dynamic transforms, and the map→odom→base_link chain
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6
RViz — The Visual Dashboard
Displays, Fixed Frame, and watching ARCHO live
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Part Three — Simulation and Control
7
Gazebo — ARCHO's Virtual Lab
Physics, RTF, gz_ros2_control, and simulated sensors
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8
ros2_control — From Command to Motion
Controller Manager, controller types, and controllers.yaml
←
9
Odometry and Sensor Fusion
Wheel Odometry, IMU, robot_localization, and the EKF
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Part Four — Perceiving the Environment and Autonomy
10
SLAM — ARCHO Maps the Warehouse
SLAM Toolbox, Mapping/Localization Mode, and saving the map
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11
Navigation2 — ARCHO's Motion Brain
Map Server, AMCL, Costmap, Global Planner, and Local Controller
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12
Behavior Trees and Lifecycle Nodes
Nav2's intelligent decision-making and safe Node startup
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13
MoveIt 2 — When ARCHO Raises Its Arm
FK/IK, Planning Scene, Collision Detection, and OMPL
←
Part Five — Scalability and Software Delivery
14
Multi-Robot — A Fleet of ARCHOs
Namespace, TF Prefix, and Fleet Manager
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15
Docker and CI/CD for ROS 2
Containerization and an automated test pipeline
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Part Six — Hardware and Industrial Deployment
16
ARCHO's Compute Hardware
Jetson, Raspberry Pi, ESP32, and micro-ROS
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17
CAN Bus and EtherCAT
Industrial networks for connecting drivers and servos
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18
From Simulation to the Real ARCHO
Bringup, calibration, safety testing, and Logging
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19
QoS, DDS, Diagnostics, and Industrial Safety
From "it works" to "reliable in production"
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20
ARCHO's Final Industrial Architecture
The closing chapter — everything comes together
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Appendices
A
Appendix A: Connecting SolidWorks to URDF
From ARCHO's mechanical model in SolidWorks to a live view in RViz
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B
Appendix B: ROS 2 Distributions and Lyrical Luth
Distro history, LTS strategy, and a full working guide to ROS 2 Lyrical Luth
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🧠 How to Use This Book
The chapters are designed to be read in order, each building on the concepts of the one before it — so it's best to read them in sequence rather than jumping around. The ARCHO project runs continuously through every chapter, so the further you go, the more complete the picture becomes.