Book description
Design, build and simulate complex robots using Robot Operating System and master its out-of-the-box functionalities
About This Book
- Develop complex robotic applications using ROS for interfacing robot manipulators and mobile robots with the help of high end robotic sensors
- Gain insights into autonomous navigation in mobile robot and motion planning in robot manipulators
- Discover the best practices and troubleshooting solutions everyone needs when working on ROS
Who This Book Is For
If you are a robotics enthusiast or researcher who wants to learn more about building robot applications using ROS, this book is for you. In order to learn from this book, you should have a basic knowledge of ROS, GNU/Linux, and C++ programming concepts. The book will also be good for programmers who want to explore the advanced features of ROS.
What You Will Learn
- Create a robot model of a Seven-DOF robotic arm and a differential wheeled mobile robot
- Work with motion planning of a Seven-DOF arm using MoveIt!
- Implement autonomous navigation in differential drive robots using SLAM and AMCL packages in ROS
- Dig deep into the ROS Pluginlib, ROS nodelets, and Gazebo plugins
- Interface I/O boards such as Arduino, Robot sensors, and High end actuators with ROS
- Simulation and motion planning of ABB and Universal arm using ROS Industrial
- Explore the ROS framework using its latest version
In Detail
The area of robotics is gaining huge momentum among corporate people, researchers, hobbyists, and students. The major challenge in robotics is its controlling software. The Robot Operating System (ROS) is a modular software platform to develop generic robotic applications.
This book discusses the advanced concepts in robotics and how to program using ROS. It starts with deep overview of the ROS framework, which will give you a clear idea of how ROS really works. During the course of the book, you will learn how to build models of complex robots, and simulate and interface the robot using the ROS MoveIt motion planning library and ROS navigation stacks.
After discussing robot manipulation and navigation in robots, you will get to grips with the interfacing I/O boards, sensors, and actuators of ROS. One of the essential ingredients of robots are vision sensors, and an entire chapter is dedicated to the vision sensor, its interfacing in ROS, and its programming.
You will discuss the hardware interfacing and simulation of complex robot to ROS and ROS Industrial (Package used for interfacing industrial robots).
Finally, you will get to know the best practices to follow when programming using ROS.
Style and approach
This is a simplified guide to help you learn and master advanced topics in ROS using hands-on examples.
Table of contents
-
Mastering ROS for Robotics Programming
- Table of Contents
- Mastering ROS for Robotics Programming
- Credits
- About the Author
- About the Reviewers
- www.PacktPub.com
- Preface
-
1. Introduction to ROS and Its Package Management
- Why should we learn ROS?
- Why we prefer ROS for robots
- Why some do not prefer ROS for robots
- Understanding the ROS file system level
- Understanding the ROS computation graph level
- Understanding ROS community level
- Questions
- Summary
-
2. Working with 3D Robot Modeling in ROS
- ROS packages for robot modeling
- Understanding robot modeling using URDF
- Creating the ROS package for the robot description
- Creating our first URDF model
- Explaining the URDF file
- Visualizing the robot 3D model in RViz
- Adding physical and collision properties to a URDF model
- Understanding robot modeling using xacro
- Conversion of xacro to URDF
- Creating the robot description for a seven DOF robot manipulator
- Explaining the xacro model of seven DOF arm
- Creating a robot model for the differential drive mobile robot
- Questions
- Summary
- 3. Simulating Robots Using ROS and Gazebo
-
4. Using the ROS MoveIt! and Navigation Stack
- Installing MoveIt!
- Generating MoveIt! configuration package using Setup Assistant tool
- Step 1 – Launching the Setup Assistant tool
-
Motion planning of robot in RViz using MoveIt! configuration package
- Using the RViz MotionPlanning plugin
- Interfacing the MoveIt! configuration package to Gazebo
- Step 1 – Writing the controller configuration file for MoveIt!
- Step 2 – Creating the controller launch files
- Step 3 – Creating the controller configuration file for Gazebo
- Step 4 – Creating the launch file for Gazebo trajectory controllers
- Step 5 – Debugging the Gazebo- MoveIt! interface
- Understanding ROS Navigation stack
- Building a map using SLAM
- Questions
- Summary
-
5. Working with Pluginlib, Nodelets, and Gazebo Plugins
-
Understanding pluginlib
-
Creating plugins for the calculator application using pluginlib
-
Working with pluginlib_calculator package
- Step 1 – Creating calculator_base header file
- Step 2 – Creating calculator_plugins header file
- Step 3 – Exporting plugins using calculator_plugins.cpp
- Step 4 – Implementing plugin loader using calculator_loader.cpp
- Step 5 – Creating plugin description file: calculator_plugins.xml
- Step 6 – Registering plugin with the ROS package system
- Step 7 – Editing the CMakeLists.txt file
- Step 8: Querying the list of plugins in a package
- Step 9 – Running the plugin loader
-
Working with pluginlib_calculator package
- Understanding ROS nodelets
-
Creating a nodelet
- Step 1 – Creating a package for nodelet
- Step 2 – Creating hello_world.cpp nodelet
- Step 3 – Explanation of hello_world.cpp
- Step 4 – Creating plugin description file
- Step 5 – Adding the export tag in package.xml
- Step 6 – Editing CMakeLists.txt
- Step 7 – Building and running nodelets
- Step 8 – Creating launch files for nodelets
-
Creating plugins for the calculator application using pluginlib
- Understanding the Gazebo plugins
- Questions
- Summary
-
Understanding pluginlib
-
6. Writing ROS Controllers and Visualization Plugins
- Understanding pr2_mechanism packages
-
Writing a basic real-time joint controller in ROS
- Step 1 – Creating controller package
- Step 2 – Creating controller header file
- Step 3 – Creating controller source file
- Step 4 – Explanation of the controller source file
- Step 5 – Creating plugin description file
- Step 6 – Updating package.xml
- Step 7 – Updating CMakeLists.txt
- Step 8 – Building controller
- Step 9 – Writing controller configuration file
- Step 10 – Writing launch file for the controller
- Step 11 – Running controller along with PR2 simulation in Gazebo
- Understanding ros_control packages
- Understanding ROS visualization tool (RViz) and its plugins
- Writing a RViz plugin for teleoperation
- Questions
- Summary
-
7. Interfacing I/O Boards, Sensors, and Actuators to ROS
- Understanding the Arduino–ROS interface
-
What is the Arduino–ROS interface?
- Understanding the rosserial package in ROS
- Arduino-ROS, example – blink LED and push button
- Arduino-ROS, example – Accelerometer ADXL 335
- Arduino-ROS, example – ultrasonic distance sensor
- Arduino-ROS, example – Odometry Publisher
- Interfacing Non-Arduino boards to ROS
- Setting ROS on Odroid–C1 and Raspberry Pi 2
- How to install an OS image to Odroid-C1 and Raspberry Pi 2
- Connecting to Odroid-C1 and Raspberry Pi 2 from a PC
- Configuring an Ethernet hotspot for Odroid-C1 and Raspberry Pi 2
- Blinking LED using ROS on Odroid-C1 and Raspberry Pi 2
- Push button + blink LED using ROS on Odroid-C1 and Raspberry Pi 2
- Interfacing Dynamixel actuators to ROS
- Questions
- Summary
-
8. Programming Vision Sensors using ROS, Open-CV, and PCL
- Understanding ROS – OpenCV interfacing packages
- Understanding ROS – PCL interfacing packages
- Interfacing USB webcams in ROS
- Working with ROS camera calibration
- Interfacing Kinect and Asus Xtion Pro in ROS
- Interfacing Intel Real Sense camera with ROS
- Interfacing Hokuyo Laser in ROS
- Interfacing Velodyne LIDAR in ROS
- Working with point cloud data
- Streaming webcam from Odroid using ROS
- Questions
- Summary
-
9. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
-
Introduction to Chefbot- a DIY mobile robot and its hardware configuration
- Flashing Chefbot firmware using Energia IDE
- Discussing Chefbot interface packages on ROS
- Computing odometry from encoder ticks
- Computing motor velocities from ROS twist message
- Configuring the Navigation stack for Chefbot
- Configuring the gmapping node
- Configuring the Navigation stack packages
- Understanding AMCL
- Understanding RViz for working with the Navigation stack
- Obstacle avoidance using the Navigation stack
- Working with Chefbot simulation
- Sending a goal to the Navigation stack from a ROS node
- Questions
- Summary
-
Introduction to Chefbot- a DIY mobile robot and its hardware configuration
-
10. Exploring the Advanced Capabilities of ROS-MoveIt!
- Motion planning using the move_group C++ interface
- Collision checking in robot arm using MoveIt!
- Working with perception using MoveIt! and Gazebo
- Grasping using MoveIt!
- Working with robot pick and place task using MoveIt!
- Pick and place action in Gazebo and real Robot
- Understanding Dynamixel ROS Servo controllers for robot hardware interfacing
- Interfacing seven DOF Dynamixel based robotic arm to ROS MoveIt!
- Questions
- Summary
-
11. ROS for Industrial Robots
- Understanding ROS-Industrial packages
- Installing ROS-Industrial packages
- Block diagram of ROS-Industrial packages
- Creating URDF for an industrial robot
- Creating MoveIt! configuration for an industrial robot
- Installing ROS-Industrial packages of universal robotic arm
- Understanding the Moveit! configuration of a universal robotic arm
- Working with MoveIt! configuration of ABB robots
- Understanding the ROS-Industrial robot support packages
- ROS-Industrial robot client package
- ROS-Industrial robot driver package
- Understanding MoveIt! IKFast plugin
- Creating the MoveIt! IKFast plugin for the ABB-IRB6640 robot
- Creating the COLLADA file of a robot to work with OpenRave
- Generating the IKFast CPP file for the IRB 6640 robot
- Questions
- Summary
- 12. Troubleshooting and Best Practices in ROS
- Index
Product information
- Title: Mastering ROS for Robotics Programming
- Author(s):
- Release date: December 2015
- Publisher(s): Packt Publishing
- ISBN: 9781783551798
You might also like
book
Hands-On ROS for Robotics Programming
Take your ROS skills to the next level by implementing complex robot structures in a ROS …
book
Mastering ROS for Robotics Programming - Second Edition
Discover best practices and troubleshooting solutions when working on ROS About This Book Develop complex robotic …
book
Mastering ROS for Robotics Programming - Third Edition
Design, build, and simulate complex robots using the Robot Operating System Key Features Become proficient in …
book
Effective Robotics Programming with ROS - Third Edition
Find out everything you need to know to build powerful robots with the most up-to-date ROS …