Robot Operating System Cookbook

By : Bipin

2 (2)

Buy this Book

Robot Operating System Cookbook

2 (2)

By: Bipin

Buy this Book

Overview of this book

This book will leverage the power of ROS with an introduction to its core and advanced concepts through exciting recipes. You will get acquainted with the use of different synchronous and asynchronous communication methods, including messages, services, and actions. You will learn how to use the various debugging and visualization tools used in development and how to interface sensors and actuators with the ROS framework. Firstly, you will get to grips with ROS simulation frameworks, such as Gazebo and RotorS for modeling and simulating any physical robot and virtual environment. You will also cover mobile robotics, micro-aerial vehicles, and robotic arms, which are the leading branches of robotic applications. Robot Operating System Cookbook will also guide you in the development of an autonomous navigation framework for both mobile robots and micro-aerial vehicles. Finally, you will explore ROS-Industrial, an open source project that extends the advanced capabilities of ROS software to manufacturing industries.

Preface

Who this book is for

What this book covers

To get the most out of this book

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Free Chapter

Getting Started with ROS

Introduction

Installing ROS on desktop systems

Installing ROS on a virtual machine

Using ROS from a Linux container

Installing ROS on an ARM-based board

Installing the ROS packages

ROS Architecture and Concepts I

Introduction

Exploring the ROS filesystem

Analyzing the ROS computation graph

Associating with the ROS community

Learning working with ROS

ROS Architecture and Concepts – II

Introduction

Understanding the parameter server and dynamic parameters

Understanding the ROS actionlib

Understanding the ROS pluginlib

Understanding the ROS nodelets

Understanding the Gazebo Framework and plugin

Understanding the ROS transform frame (TF)

Understanding the ROS Visualization tool (RViz) and its plugins

ROS Visualization and Debugging Tools

Introduction

Debugging and profiling ROS nodes

Logging and visualizing ROS messages

Inspecting and diagnosing the ROS system

Visualizing and plotting scalar data

Visualizing non-scalar data – 2D/3D images

Recording and playing back ROS topics

Accessing Sensors and Actuators through ROS

Introduction

Understanding the Arduino-ROS interface

Interfacing 9DoF Razor IMU-Arduino-ROS

Using a GPS system – Ublox

Interfacing servomotors – Dynamixel

Using a Laser Rangefinder – Hokuyo

Working with the Kinect sensor to view objects in 3D

Using a joystick or a gamepad in ROS

ROS Modeling and Simulation

Introduction

Understanding robot modeling using URDF

Understanding robot modeling using xacro

Understanding the joint state publisher and the robot state publisher

Understanding the Gazebo architecture and interface with ROS

Mobile Robot in ROS

Introduction

The navigation stack in ROS

Interfacing the mobile robot to the navigation stack

Creating a launch file for the navigation stack

Setting up RViz for the navigation stack – visualization

Robot localization – Adaptive Monte Carlo Localization (AMCL)

Configuring navigation stack parameters with rqt_reconfigure

Autonomous navigation of mobile robots – avoiding obstacles

Sending goals

The Robotic Arm in ROS

Introduction

Basic concepts of MoveIt!

Motion planning using graphical interfaces

Performing motion planning using control programs

Adding perception to motion planning

Grasping action with the robotic arm or manipulator

Micro Aerial Vehicles in ROS

Introduction

Overview of MAV system design

A generic mathematical model of an MAV/drone

Simulation of an MAV/drone using RotorS/Gazebo

Autonomous navigation framework for an MAV/Drone

Working with a real MAV/drone – Parrot, Bebop

ROS-Industrial (ROS-I)

Introduction

Understanding ROS-I packages

3D modeling and simulation of an industrial robot and MoveIt!

Working with ROS-I packages – Universal Robots, ABB robot

ROS-I Robot support packages

ROS-I Robot client package

ROS-I robot driver specification

Developing a custom MoveIt! IKFast plugin

ROS-I-MTConnect integration

Future of ROS-I – hardware support, capabilities, and applications

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Future of ROS-I – hardware support, capabilities, and applications

In this section, we will talk about what can we do with ROS-I today. We will focus our discussion section on ROS deployment or ROS being deployed in an industrial setting.

We will talk about the lowest components of the POS-I software stack, the hardware devices, ROS capabilities in an industrial setup, and amazing applications.

Currently, ROS-I has a device driver for five different robot manufactures: ABB, Fanuc, Universal Robots, Motoman, and Adept, which are shown in the following photograph:

ROS Industrial robot manufactures

There are a couple of models from these robot manufactures that are supported in ROS-I packages. The new robot models can be easily added by these manufacturers, which do not require any software changes, expect configuration. Sometimes, robot mesh and kinematics need to be added...