3 Best ROS 2 Books
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Choosing a ROS 2 book can be tricky when you are still figuring out which topics and level of detail fit your learning goals.
These books cover practical programming subjects, from core ROS 2 components and robot simulation to package creation and debugging tools.
This time, we’ll round up three books that introduce ROS 2 programming from different angles.
Quick-reference table of recommended products
| Product name | Programming languages | Topics covered | Named tools covered | Stated preparation |
|---|---|---|---|---|
 ROS 2 from Scratch | Python and C++ | Nodes, topics, services, actions, parameters, launch files, and URDF | Gazebo and RViz | Basic Linux command-line skills and Python |
 A Concise Introduction to Robot Programming with ROS 2 | C++ mainly, and Python | Simulated robot, Behavior Trees, Nav2, development, and testing strategies | — | No previous ROS 2 experience required; assumes average Linux and programming skills |
 Introduction to ROS2 for beginners | — | Nodes, topics, messages, services, actions, parameters, package creation, and publisher and subscriber nodes | RViz, RQT, and ROSBAG | Basic programming knowledge |
ROS 2 from Scratch
For readers looking for a hands-on introduction to building robotics applications with ROS 2, ROS 2 from Scratch is recommended. It covers core components such as nodes, topics, and services, then moves into robot modeling with URDF, simulation in Gazebo, and visualization with RViz. The book also covers parameters and launch files for creating scalable applications, using Python and C++.
It is intended for learners with a basic grasp of Linux command-line skills and Python.
A Concise Introduction to Robot Programming with ROS 2
For readers who want to learn ROS 2 robot programming without previous ROS 2 experience, A Concise Introduction to Robot Programming with ROS 2 is recommended. It mainly uses C++ alongside Python, and covers a simulated robot, development and testing strategies, Behavior Trees, and Nav2.
The book assumes readers have average Linux and programming skills. The book starts with Linux Ubuntu 24.04 LTS on an AMD64-bit computer and uses ROS 2 Jazzy Jalisco; ROS 2 also works on Windows and Mac, while the book focuses on Linux development.
Introduction to ROS2 for beginners
For readers new to ROS 2 who want a practical introduction to its core concepts, Introduction to ROS2 for beginners is recommended. The book covers nodes, topics, messages, services, actions, and parameters, with guidance on creating packages and writing publisher and subscriber nodes. It also covers visualization and debugging with RViz, RQT, and ROSBAG.
The book is intended for beginners and first-time ROS users with basic programming knowledge.
Choosing a ROS 2 book
- Readers who want to model and simulate robots and visualize them in RViz
- Readers seeking robot programming with a simulated robot, Behavior Trees, and Nav2
- Beginners looking for core ROS 2 concepts and guidance on creating packages and publisher and subscriber nodes
An accompanying code repository
If you want code to refer to alongside the book’s explanations, A Concise Introduction to Robot Programming with ROS 2 includes a GitHub repository with code to assist readers.
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