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  • Book Overview & Buying Learning ROS for Robotics Programming Second Edition
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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

ROS packages useful for Computer Vision tasks


The great advantage of doing Computer Vision in ROS is the fact that we do not have to re-invent the wheel. A lot of third-party software is available, and we can also connect our vision stuff to the real robots or do some simulations. Here, we are going to enumerate interesting Computer Vision tools for the most common visual tasks, but we will only explain in detail one of them later, including all the steps to set it up. We will do it for visual odometry, but other packages are also easy to install and it is also easy to start playing with them; simply follow the tutorials or manuals in the links provided here:

  • Visual Servoing: Also known as Vision-based Robot Control, this is a technique that uses feedback information obtained from a vision sensor to control the motion of a robot, typically an arm used for grasping. In ROS, we have a wrapper of the Visual Servoing Platform (ViSP) software (http://www.irisa.fr/lagadic/visp/visp.html, http...

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