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ROS Robotics Projects

ROS Robotics Projects

By : Lentin Joseph
4.1 (11)
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ROS Robotics Projects

ROS Robotics Projects

4.1 (11)
By: Lentin Joseph
Buy this Book

Overview of this book

Robot Operating System is one of the most widely used software frameworks for robotic research and for companies to model, simulate, and prototype robots. Applying your knowledge of ROS to actual robotics is much more difficult than people realize, but this title will give you what you need to create your own robotics in no time! This book is packed with over 14 ROS robotics projects that can be prototyped without requiring a lot of hardware. The book starts with an introduction of ROS and its installation procedure. After discussing the basics, you’ll be taken through great projects, such as building a self-driving car, an autonomous mobile robot, and image recognition using deep learning and ROS. You can find ROS robotics applications for beginner, intermediate, and expert levels inside! This book will be the perfect companion for a robotics enthusiast who really wants to do something big in the field.
Table of Contents (13 chapters)
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Preface
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Preface
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What this book covers
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What you need for this book
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Who this book is for
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Conventions
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Reader feedback
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Customer support
Free Chapter
1
1. Getting Started with ROS Robotics Application Development
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1. Getting Started with ROS Robotics Application Development
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Getting started with ROS
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Fundamentals of ROS
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ROS client libraries
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ROS tools
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Simulators of ROS
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Installing ROS kinetic on Ubuntu 16.04 LTS
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Setting ROS on VirtualBox
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Setting the ROS workspace
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Opportunities for ROS in industries and research
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Questions
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Summary
2
2. Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos
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2. Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos
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Overview of the project
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Hardware and software prerequisites
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Interfacing Dynamixel with ROS
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Creating face tracker ROS packages
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Working with the face-tracking ROS package
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Questions
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Summary
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3. Building a Siri-Like Chatbot in ROS
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3. Building a Siri-Like Chatbot in ROS
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Social robots
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Building social robots
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Prerequisites
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Getting started with AIML
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Questions
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Summary
4
4. Controlling Embedded Boards Using ROS
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4. Controlling Embedded Boards Using ROS
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Getting started with popular embedded boards
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Interfacing Arduino with ROS
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Running ROS on Raspberry Pi and Odroid boards
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Questions
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Summary
5
5. Teleoperate a Robot Using Hand Gestures
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5. Teleoperate a Robot Using Hand Gestures
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Teleoperating ROS Turtle using a keyboard
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Teleoperating using hand gestures
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Setting up the project
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Interfacing the MPU-9250 with the Arduino and ROS
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Visualizing IMU TF in Rviz
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Converting IMU data into twist messages
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Integration and final run
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Teleoperating using an Android phone
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Questions
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Summary
6
6. Object Detection and Recognition
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6. Object Detection and Recognition
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Getting started with object detection and recognition
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The find_object_2d package in ROS
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Getting started with 3D object recognition
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Introduction to 3D object recognition packages in ROS
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Detecting and recognizing objects from 3D meshes
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Recognizing objects
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Questions
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Summary
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7. Deep Learning Using ROS and TensorFlow
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7. Deep Learning Using ROS and TensorFlow
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Introduction to deep learning and its applications
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Deep learning for robotics
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Deep learning libraries
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Getting started with TensorFlow
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Image recognition using ROS and TensorFlow
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Introducing to scikit-learn
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Introducing to SVM and its application in robotics
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Questions
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Summary
8
8. ROS on MATLAB and Android
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8. ROS on MATLAB and Android
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Getting started with the ROS-MATLAB interface
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Setting Robotics Toolbox in MATLAB
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Communicating from MATLAB to a ROS network
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Controlling a ROS robot from MATLAB
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Getting started with Android and its ROS interface
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Installing the ROS-Android interface
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Playing with ROS-Android applications
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Code walkthrough
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Creating basic applications using the ROS-Android interface
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Questions
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Summary
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9. Building an Autonomous Mobile Robot
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9. Building an Autonomous Mobile Robot
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Robot specification and design overview
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Designing and selecting the motors and wheels for the robot
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Building 2D and 3D models of the robot body
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Simulating the robot model in Gazebo
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Mathematical model of a differential drive robot
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Designing and building actual robot hardware
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Interfacing robot hardware with ROS
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Gmapping and localization in Chefbot
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Questions
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Summary
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10. Creating a Self-Driving Car Using ROS
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10. Creating a Self-Driving Car Using ROS
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Getting started with self-driving cars
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Functional block diagram of a typical self-driving car
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Software block diagram of self-driving cars
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Simulating the Velodyne LIDAR
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Interfacing Velodyne sensors with ROS
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Simulating a laser scanner
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Explaining the simulation code
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Interfacing laser scanners with ROS
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Simulating stereo and mono cameras in Gazebo
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Interfacing cameras with ROS
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Simulating GPS in Gazebo
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Simulating IMU on Gazebo
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Interfacing IMUs with ROS
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Simulating an ultrasonic sensor in Gazebo
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Low-cost LIDAR sensors
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Simulating a self-driving car with sensors in Gazebo
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Interfacing a DBW car with ROS
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Introducing the Udacity open source self-driving car project
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Questions
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Summary
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11. Teleoperating a Robot Using a VR Headset and Leap Motion
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11. Teleoperating a Robot Using a VR Headset and Leap Motion
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Getting started with a VR headset and Leap Motion
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Project prerequisites
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Design and working of the project
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Installing the Leap Motion SDK on Ubuntu 14.04.5
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Visualizing Leap Motion data in Rviz
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Creating a teleoperation node using the Leap Motion controller
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Building a ROS-VR Android application
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Working with the ROS-VR application and interfacing with Gazebo
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Working with TurtleBot simulation in VR
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Troubleshooting the ROS-VR application
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Integrating ROS-VR application and Leap Motion teleoperation
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Questions
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Summary
12
12. Controlling Your Robots over the Web
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12. Controlling Your Robots over the Web
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Getting started with ROS web packages
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Setting up ROS web packages on ROS Kinetic
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Installing tf2_web_republisher on ROS Kinetic
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Teleoperating and visualizing a robot on a web browser
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Controlling robot joints from a web browser
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Web-based speech-controlled robot
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Running a speech-controlled robot application
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Questions
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Summary

Explaining the simulation code

The sensor_sim_gazebo package has the following list of files for simulating all self-driving car sensors. Here is the directory structure of this package:

Explaining the simulation code

Figure 17: List of files in sensor_sim_gazebo

To simulate a laser, launch the laser.launch file; similarly, to start simulating the IMU, GPS, and camera, launch the corresponding launch files. Inside URDF, you can see the Gazebo plugin definition for each sensor. The sensor.xacro file is the orange box definition that you saw in the preceding simulation. It is just a box for visualizing a sensor model. We are using this model for representing all the sensors inside this package. You can use your own model instead of this, too.

The laser.xacro file has the Gazebo plugin definition of the laser, as shownhere:

      <gazebo reference="sensor"> 
        <sensor type="ray" name="head_hokuyo_sensor"> 
          <pose>0 0 0 0 0 0</pose> 
          <visualize...

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