Ros2 Development

It covers the practical stuff you'll actually hit: setting up lifecycle nodes for production deployments, configuring QoS profiles so your messages don't disappear, writing proper CMakeLists and package.xml files, and handling parameter callbacks since dynamic_reconfigure is gone. The code examples show both rclpy and rclcpp patterns with real QoS configurations and proper parameter declarations. If you're moving from ROS1 or setting up CI/CD for a robotics project, this will save you from digging through scattered documentation. Covers Humble through Rolling, includes Nav2 and MoveIt2 context, and addresses the DDS layer when you need to debug discovery issues.