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  • 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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Preface
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Preface
What this book covers
What you need for this book
Who this book is for
Conventions
Reader feedback
Customer support
Free Chapter
1
1. Getting Started with ROS Hydro
1. Getting Started with ROS Hydro
PC installation
Installing ROS Hydro – using repositories
How to install VirtualBox and Ubuntu
Installing ROS Hydro in BeagleBone Black (BBB)
Summary
2
2. ROS Architecture and Concepts
2. ROS Architecture and Concepts
Understanding the ROS Filesystem level
Understanding the ROS Computation Graph level
Understanding the ROS Community level
Tutorials to practice with ROS
Summary
3
3. Visualization and Debug Tools
3. Visualization and Debug Tools
Debugging ROS nodes
Logging messages
Inspecting what is going on
Setting dynamic parameters
When something weird happens
Visualizing node diagnostics
Plotting scalar data
Image visualization
3D visualization
Saving and playing back data
Using the rqt_gui and rqt plugins
Summary
4
4. Using Sensors and Actuators with ROS
4. Using Sensors and Actuators with ROS
Using a joystick or a gamepad
Using a laser rangefinder – Hokuyo URG-04lx
Using the Kinect sensor to view objects in 3D
Using servomotors – Dynamixel
Using Arduino to add more sensors and actuators
Using an ultrasound range sensor with Arduino
How distance sensors send messages
Using a low-cost IMU – 10 degrees of freedom
Using a GPS system
Summary
5
5. Computer Vision
5. Computer Vision
Connecting and running the camera
Writing your own USB camera driver with OpenCV
Calibrating the camera
The ROS image pipeline
ROS packages useful for Computer Vision tasks
Using visual odometry with viso2
Performing visual odometry with an RGBD camera
Computing the homography of two images
Summary
6
6. Point Clouds
6. Point Clouds
Understanding the point cloud library
My first PCL program
Segmentation
Summary
7
7. 3D Modeling and Simulation
7. 3D Modeling and Simulation
A 3D model of our robot in ROS
Creating our first URDF file
Xacro – a better way to write our robot models
Simulation in ROS
Summary
8
8. The Navigation Stack – Robot Setups
8. The Navigation Stack – Robot Setups
The navigation stack in ROS
Creating transforms
Publishing sensor information
Publishing odometry information
Creating a base controller
Creating a map with ROS
Summary
9
9. The Navigation Stack – Beyond Setups
9. The Navigation Stack – Beyond Setups
Creating a package
Creating a robot configuration
Configuring the costmaps – global_costmap and local_costmap
Creating a launch file for the navigation stack
Setting up rviz for the navigation stack
Adaptive Monte Carlo Localization
Modifying parameters with rqt_reconfigure
Avoiding obstacles
Sending goals
Summary
10
10. Manipulation with MoveIt!
10. Manipulation with MoveIt!
The MoveIt! architecture
Integrating an arm in MoveIt!
Simple motion planning
Motion planning with collisions
The pick and place task
Summary
11
Index
Index

Customer support

Now that you are the proud owner of a Packt book, we have a number of things to help you to get the most from your purchase.

Downloading the example code

You can download the example code files from your account at http://www.packtpub.com for all the Packt Publishing books you have purchased. If you purchased this book elsewhere, you can visit http://www.packtpub.com/support and register to have the files e-mailed directly to you. You can also download these code files from https://github.com/AaronMR/ROS_Book_Hydro.

Downloading the color images of this book

We also provide you with a PDF file that has color images of the screenshots/diagrams used in this book. The color images will help you better understand the changes in the output. You can download this file from http://www.packtpub.com/sites/default/files/downloads/7580OS_ColorImages.pdf.

Errata

Although we have taken every care to ensure the accuracy of our content, mistakes do happen. If you find a mistake in one of our books—maybe a mistake in the text or the code—we would be grateful if you could report this to us. By doing so, you can save other readers from frustration and help us improve subsequent versions of this book. If you find any errata, please report them by visiting http://www.packtpub.com/submit-errata, selecting your book, clicking on the Errata Submission Form link, and entering the details of your errata. Once your errata are verified, your submission will be accepted and the errata will be uploaded to our website or added to any list of existing errata under the Errata section of that title.

To view the previously submitted errata, go to https://www.packtpub.com/books/content/support and enter the name of the book in the search field. The required information will appear under the Errata section.

Piracy

Piracy of copyrighted material on the Internet is an ongoing problem across all media. At Packt, we take the protection of our copyright and licenses very seriously. If you come across any illegal copies of our works in any form on the Internet, please provide us with the location address or website name immediately so that we can pursue a remedy.

Please contact us at with a link to the suspected pirated material.

We appreciate your help in protecting our authors and our ability to bring you valuable content.

Questions

If you have a problem with any aspect of this book, you can contact us at , and we will do our best to address the problem.

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