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Learning ROS for Robotics Programming Second Edition

Learning ROS for Robotics Programming Second Edition

By : Mahtani, Aaron Martinez
4 (8)
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Learning ROS for Robotics Programming Second Edition

Learning ROS for Robotics Programming Second Edition

4 (8)
By: Mahtani, Aaron Martinez

Overview of this book

If you have ever tried building a robot, then you know how cumbersome programming everything from scratch can be. This is where ROS comes into the picture. It is a collection of tools, libraries, and conventions that simplifies the robot building process. What’s more, ROS encourages collaborative robotics software development, allowing you to connect with experts in various fields to collaborate and build upon each other's work. Packed full of examples, this book will help you understand the ROS framework to help you build your own robot applications in a simulated environment and share your knowledge with the large community supporting ROS. Starting at an introductory level, this book is a comprehensive guide to the fascinating world of robotics, covering sensor integration, modeling, simulation, computer vision, navigation algorithms, and more. You will then go on to explore concepts like topics, messages, and nodes. Next, you will learn how to make your robot see with HD cameras, or navigate obstacles with range sensors. Furthermore, thanks to the contributions of the vast ROS community, your robot will be able to navigate autonomously, and even recognize and interact with you in a matter of minutes. What’s new in this updated edition? First and foremost, we are going to work with ROS Hydro this time around. You will learn how to create, visualize, and process Point Cloud information from different sensors. This edition will also show you how to control and plan motion of robotic arms with multiple joints using MoveIt! By the end of this book, you will have all the background you need to build your own robot and get started with ROS.
Table of Contents (12 chapters)
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11
Index

Chapter 4. Using Sensors and Actuators with ROS

When you think of a robot, you would probably think of a human-sized one with arms, a lot of sensors, and a wide field of locomotion systems.

Now that we know how to write small programs in ROS and manage them, we are going to work with sensors and actuators—things that can interact with the real world.

You can find a wide list of devices supported by ROS at http://www.ros.org/wiki/Sensors.

In this chapter, we will deal with the following topics:

  • Cheap and common sensors for your projects
  • 3D sensors, such as Kinect and laser rangefinders
  • Using Arduino to connect more sensors and actuators

We know that it is impossible to explain all the types of sensors in this chapter. For this reason, we have selected some of the most commonly used ones and those that are affordable to most users—regular, sporadic, or amateur.

Sensors and actuators can be organized into different categories: rangefinders, cameras, pose estimation devices...

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