Browse Library
Sign In Start Free Trial
Close icon Search icon
Account
Browse Library Advanced Search Sign In Start Free Trial

Add to playlist

Create a Playlist

Modal Close icon
You need to login to use this feature.
  • Book Overview & Buying ROS Robotics Projects
  • Table Of Contents Toc
  • Feedback & Rating feedback
ROS Robotics Projects

ROS Robotics Projects

By : Lentin Joseph
4.1 (11)
Buy this Book
close
close
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)
close
close
close
Preface
Icon
Preface
Icon
What this book covers
Icon
What you need for this book
Icon
Who this book is for
Icon
Conventions
Icon
Reader feedback
Icon
Customer support
Free Chapter
1
1. Getting Started with ROS Robotics Application Development
Icon
1. Getting Started with ROS Robotics Application Development
Icon
Getting started with ROS
Icon
Fundamentals of ROS
Icon
ROS client libraries
Icon
ROS tools
Icon
Simulators of ROS
Icon
Installing ROS kinetic on Ubuntu 16.04 LTS
Icon
Setting ROS on VirtualBox
Icon
Setting the ROS workspace
Icon
Opportunities for ROS in industries and research
Icon
Questions
Icon
Summary
2
2. Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos
Icon
2. Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos
Icon
Overview of the project
Icon
Hardware and software prerequisites
Icon
Interfacing Dynamixel with ROS
Icon
Creating face tracker ROS packages
Icon
Working with the face-tracking ROS package
Icon
Questions
Icon
Summary
3
3. Building a Siri-Like Chatbot in ROS
Icon
3. Building a Siri-Like Chatbot in ROS
Icon
Social robots
Icon
Building social robots
Icon
Prerequisites
Icon
Getting started with AIML
Icon
Questions
Icon
Summary
4
4. Controlling Embedded Boards Using ROS
Icon
4. Controlling Embedded Boards Using ROS
Icon
Getting started with popular embedded boards
Icon
Interfacing Arduino with ROS
Icon
Running ROS on Raspberry Pi and Odroid boards
Icon
Questions
Icon
Summary
5
5. Teleoperate a Robot Using Hand Gestures
chevron up
Icon
5. Teleoperate a Robot Using Hand Gestures
Icon
Teleoperating ROS Turtle using a keyboard
Icon
Teleoperating using hand gestures
Icon
Setting up the project
Icon
Interfacing the MPU-9250 with the Arduino and ROS
Icon
Visualizing IMU TF in Rviz
Icon
Converting IMU data into twist messages
Icon
Integration and final run
Icon
Teleoperating using an Android phone
Icon
Questions
Icon
Summary
6
6. Object Detection and Recognition
Icon
6. Object Detection and Recognition
Icon
Getting started with object detection and recognition
Icon
The find_object_2d package in ROS
Icon
Getting started with 3D object recognition
Icon
Introduction to 3D object recognition packages in ROS
Icon
Detecting and recognizing objects from 3D meshes
Icon
Recognizing objects
Icon
Questions
Icon
Summary
7
7. Deep Learning Using ROS and TensorFlow
Icon
7. Deep Learning Using ROS and TensorFlow
Icon
Introduction to deep learning and its applications
Icon
Deep learning for robotics
Icon
Deep learning libraries
Icon
Getting started with TensorFlow
Icon
Image recognition using ROS and TensorFlow
Icon
Introducing to scikit-learn
Icon
Introducing to SVM and its application in robotics
Icon
Questions
Icon
Summary
8
8. ROS on MATLAB and Android
Icon
8. ROS on MATLAB and Android
Icon
Getting started with the ROS-MATLAB interface
Icon
Setting Robotics Toolbox in MATLAB
Icon
Communicating from MATLAB to a ROS network
Icon
Controlling a ROS robot from MATLAB
Icon
Getting started with Android and its ROS interface
Icon
Installing the ROS-Android interface
Icon
Playing with ROS-Android applications
Icon
Code walkthrough
Icon
Creating basic applications using the ROS-Android interface
Icon
Questions
Icon
Summary
9
9. Building an Autonomous Mobile Robot
Icon
9. Building an Autonomous Mobile Robot
Icon
Robot specification and design overview
Icon
Designing and selecting the motors and wheels for the robot
Icon
Building 2D and 3D models of the robot body
Icon
Simulating the robot model in Gazebo
Icon
Mathematical model of a differential drive robot
Icon
Designing and building actual robot hardware
Icon
Interfacing robot hardware with ROS
Icon
Gmapping and localization in Chefbot
Icon
Questions
Icon
Summary
10
10. Creating a Self-Driving Car Using ROS
Icon
10. Creating a Self-Driving Car Using ROS
Icon
Getting started with self-driving cars
Icon
Functional block diagram of a typical self-driving car
Icon
Software block diagram of self-driving cars
Icon
Simulating the Velodyne LIDAR
Icon
Interfacing Velodyne sensors with ROS
Icon
Simulating a laser scanner
Icon
Explaining the simulation code
Icon
Interfacing laser scanners with ROS
Icon
Simulating stereo and mono cameras in Gazebo
Icon
Interfacing cameras with ROS
Icon
Simulating GPS in Gazebo
Icon
Simulating IMU on Gazebo
Icon
Interfacing IMUs with ROS
Icon
Simulating an ultrasonic sensor in Gazebo
Icon
Low-cost LIDAR sensors
Icon
Simulating a self-driving car with sensors in Gazebo
Icon
Interfacing a DBW car with ROS
Icon
Introducing the Udacity open source self-driving car project
Icon
Questions
Icon
Summary
11
11. Teleoperating a Robot Using a VR Headset and Leap Motion
Icon
11. Teleoperating a Robot Using a VR Headset and Leap Motion
Icon
Getting started with a VR headset and Leap Motion
Icon
Project prerequisites
Icon
Design and working of the project
Icon
Installing the Leap Motion SDK on Ubuntu 14.04.5
Icon
Visualizing Leap Motion data in Rviz
Icon
Creating a teleoperation node using the Leap Motion controller
Icon
Building a ROS-VR Android application
Icon
Working with the ROS-VR application and interfacing with Gazebo
Icon
Working with TurtleBot simulation in VR
Icon
Troubleshooting the ROS-VR application
Icon
Integrating ROS-VR application and Leap Motion teleoperation
Icon
Questions
Icon
Summary
12
12. Controlling Your Robots over the Web
Icon
12. Controlling Your Robots over the Web
Icon
Getting started with ROS web packages
Icon
Setting up ROS web packages on ROS Kinetic
Icon
Installing tf2_web_republisher on ROS Kinetic
Icon
Teleoperating and visualizing a robot on a web browser
Icon
Controlling robot joints from a web browser
Icon
Web-based speech-controlled robot
Icon
Running a speech-controlled robot application
Icon
Questions
Icon
Summary

Teleoperating ROS Turtle using a keyboard

This section is for beginners who haven't worked with teleoperation in ROS yet. In this section, we will see how to teleoperate a robot manually using a keyboard. Using a keyboard, we can translate and rotate the robot. One of the basic example to demonstrate keyboard teleoperation is ROS turtlesim.

The following commands launch turtlesim with keyboard teleoperation. You can run each command on separate Terminals.

Run roscore:

$ roscore

Run a turtlesim node using the following command. This command will launch the turtlesim window:

$ rosrun turtlesim turtlesim_node

Run the keyboard teleoperation node. We can change the turtle's position by pressing arrow keys on the keyboard:

$ rosrun turtlesim turtle_teleop_key

The screenshot of the moving turtle using arrow keys is shown here:

Figure 1: Turtlesim keyboard teleoperation

In ROS, most of the robot packages are bundled with a teleop node for manual control of the robot. This control can either be through...

Unlock full access

Continue reading for free

A Packt free trial gives you instant online access to our library of over 7000 practical eBooks and videos, constantly updated with the latest in tech
Start a 7-day FREE trial
End of Section 2
Next Section

Create a Note

Modal Close icon
You need to login to use this feature.
notes
bookmark search playlist download
font-size

Change the font size

margin-width

Change margin width

day-mode

Change background colour

Close icon Search
Country selected
Close icon Your notes and bookmarks

Delete Bookmark

Modal Close icon
Are you sure you want to delete it?
Cancel
Yes, Delete

Delete Note

Modal Close icon
Are you sure you want to delete it?
Cancel
Yes, Delete

Confirmation

Modal Close icon
claim successful
Order Page Read Now

Buy this book with your credits?

Modal Close icon
Are you sure you want to buy this book with one of your credits?
Close
YES, BUY