The reader should have a good grasp of programming with Python, either 2.7 or 3.6. Most of the examples are written in 2.7, but conversion to 3.6 or above is fairly simple – it is mostly changing the print statements. The ROS works only in Linux. The reader can use a virtual machine to emulate Linux on a Windows computer. This was done by the author when writing this book. Packt Publishing has several excellent books that explain how to use ROS, if you need more detailed instruction. No special math skills are required past high-school level. If you want to follow the robot's construction, then basic hand tools (screwdrivers, wrenches, Allen keys, and a soldering iron) will be required.
All the other installation instructions are in the appropriate chapters as the book progresses.