Book description
Bring life to your robot using ROS robotic applications
About This Book
- This book will help you boost your knowledge of ROS and give you advanced practical experience you can apply to your ROS robot platforms
- This is the only book that offers you step-by-step instructions to solidify your ROS understanding and gain experience using ROS tools
- From eminent authors, this book offers you a plethora of fun-filled examples to make your own quadcopter, turtlebot, and two-armed robots
Who This Book Is For
If you are a robotics developer, whether a hobbyist, researchers or professional, and are interested in learning about ROS through a hands-on approach, then this book is for you. You are encouraged to have a working knowledge of GNU/Linux systems and Python.
What You Will Learn
- Get to know the fundamentals of ROS and apply its concepts to real robot examples
- Control a mobile robot to navigate autonomously in an environment
- Model your robot designs using URDF and Xacro, and operate them in a ROS Gazebo simulation
- Control a 7 degree-of-freedom robot arm for visual servoing
- Fly a quadcopter to autonomous waypoints
- Gain working knowledge of ROS tools such as Gazebo, rviz, rqt, and Move-It
- Control robots with mobile devices and controller boards
In Detail
The visionaries who created ROS developed a framework for robotics centered on the commonality of robotic systems and exploited this commonality in ROS to expedite the development of future robotic systems.
From the fundamental concepts to advanced practical experience, this book will provide you with an incremental knowledge of the ROS framework, the backbone of the robotics evolution. ROS standardizes many layers of robotics functionality from low-level device drivers to process control to message passing to software package management. This book provides step-by-step examples of mobile, armed, and flying robots, describing the ROS implementation as the basic model for other robots of these types. By controlling these robots, whether in simulation or in reality, you will use ROS to drive, move, and fly robots using ROS control.
Style and approach
This is an easy-to-follow guide with hands-on examples of ROS robots, both real and in simulation.
Table of contents
-
ROS Robotics By Example
- Table of Contents
- ROS Robotics By Example
- Credits
- About the Authors
- About the Reviewer
- www.PacktPub.com
- Preface
-
1. Getting Started with ROS
- What does ROS do and what are the benefits of learning ROS?
- Which robots are using ROS?
- Installing and launching ROS
- Creating a catkin workspace
- ROS packages and manifest
- ROS nodes and ROS Master
- Turtlesim, the first ROS robot simulation
- ROS commands summary
- Summary
-
2. Creating Your First Two-Wheeled ROS Robot (in Simulation)
- Rviz
- Creating and building a ROS package
- Building a differential drive robot URDF
- Gazebo
- Summary
-
3. Driving Around with TurtleBot
- Introducing TurtleBot
- Loading TurtleBot simulator software
- Launching TurtleBot simulator in Gazebo
- Setting up to control a real TurtleBot
- Networking the netbook and remote computer
- TurtleBot hardware specifications
- Move the real TurtleBot
- Introducing rqt tools
- TurtleBot's odometry
- TurtleBot automatic docking
- Summary
-
4. Navigating the World with TurtleBot
- 3D vision systems for TurtleBot
- Configuring TurtleBot and installing the 3D sensor software
- Testing the 3D sensor in standalone mode
- Running ROS nodes for visualization
- Navigating with TurtleBot
- Summary
-
5. Creating Your First Robot Arm (in Simulation)
- Features of Xacro
- Building an articulated robot arm URDF using Xacro
- Controlling an articulated robot arm in Gazebo
- Summary
-
6. Wobbling Robot Arms Using Joint Control
- Introducing Baxter
- Baxter's arms
- Loading the Baxter software
- Launching Baxter Simulator in Gazebo
- Baxter's arms and forward kinematics
- Introducing MoveIt
- Configuring a real Baxter setup
- Controlling a real Baxter
- Inverse kinematics
- Summary
- 7. Making a Robot Fly
- 8. Controlling Your Robots with External Devices
- 9. Flying a Mission with Crazyflie
- 10. Extending Your ROS Abilities
- Index
Product information
- Title: ROS Robotics By Example
- Author(s):
- Release date: June 2016
- Publisher(s): Packt Publishing
- ISBN: 9781782175193
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