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

This book takes you through the most common patterns and frameworks used by developers while creating software based on ROS 2, the newest version of the Robot Operative System. It's not a programming guide guiding you through the basic APIs, but is meant to help you organizing complex architectural patterns in robotics. It makes an ample usage of references to already existing material and is written with an informal tone that will hopefully keep you entertained.