Index
A
- Adaptive Monte Carlo Localization (AMCL) / Localization and mapping
- ADXL345 sensor / Using a low-cost IMU – 10 degrees of freedom
- AMCL
- about / Adaptive Monte Carlo Localization (AMCL)
- configuration options / Adaptive Monte Carlo Localization (AMCL)
- min_particles parameter / Adaptive Monte Carlo Localization (AMCL)
- max_particles parameter / Adaptive Monte Carlo Localization (AMCL)
- laser_model_type parameter / Adaptive Monte Carlo Localization (AMCL)
- laser_likelihood_max_dist parameter / Adaptive Monte Carlo Localization (AMCL)
- initial_pose_x parameter / Adaptive Monte Carlo Localization (AMCL)
- initial_pose_y parameter / Adaptive Monte Carlo Localization (AMCL)
- initial_pose_a parameter / Adaptive Monte Carlo Localization (AMCL)
- amcl node / Loading the map using map_server
- Analog-Digital converter (ADC) / Using the ImageTransport API to publish the camera frames
- Arduino
- about / Using Arduino to add more sensors and actuators
- used, for sensor addition / Using Arduino to add more sensors and actuators
- using, example creating / Creating an example to use Arduino
- URL / Using a low-cost IMU – 10 degrees of freedom
- programming / Programming Arduino Nano and the 10DOF sensor
B
- back data
- saving / Saving and playing back data
- playing / Saving and playing back data
- bag file / What is a bag file?
- bag file
- about / What is a bag file?
- data recording, with rosbag / Recording data in a bag file with rosbag
- playing back / Playing back a bag file
- topics inspecting, rxbag used / Inspecting all the topics and messages in a bag file using rxbag
- bags / Understanding the ROS Computation Graph level
- rosmsg packages / Bags
- base controller
- about / Creating a base controller
- creating / Creating a base controller, Creating our base controller
- odometry, creating with Gazebo / Using Gazebo to create the odometry
- base frame / The relationship between topics and frames
- base planner
- configuring / Base local planner configuration
- bin/ / Packages
- BMP085 sensor / Using a low-cost IMU – 10 degrees of freedom
- broadcaster, transforms
- creating / Creating a broadcaster
- Building Editor / Localization and mapping
C
- camera
- connecting / Connecting and running the camera
- FireWire IEEE1394 cameras / FireWire IEEE1394 cameras
- USB cameras / USB cameras
- calibrating / How to calibrate the camera
- stereo calibration / Stereo calibration
- CMakeLists.txt / Packages
- common parameters, costmaps
- obstacle_range attribute / Configuring the common parameters
- raytrace_range attribute / Configuring the common parameters
- inflation_radius attribute / Configuring the common parameters
- Coriander / FireWire IEEE1394 cameras
- costmaps
- configuring / Configuring the costmaps (global_costmap) and (local_costmap)
- global costmap / Configuring the costmaps (global_costmap) and (local_costmap)
- local costmap / Configuring the costmaps (global_costmap) and (local_costmap)
- common parameters, configuring / Configuring the common parameters
- global costmap, configuring / Configuring the global costmap
- local costmap, configuring / Configuring the local costmap
- custom odometry
- creating / Creating our own odometry
- cv_bridge
- used, for ROS images dealing / Dealing with OpenCV and ROS images using cv_bridge
- used, for OpenCV dealing / Dealing with OpenCV and ROS images using cv_bridge
D
- 2D nav goal
- about / 2D nav goal
- 2D pose estimate
- about / 2D pose estimate
- 3D viewing
- Kinect sensor, using / Using the Kinect sensor to view in 3D
- 3D visualization
- about / 3D visualization
- rviz, using / Visualizing data on a 3D world using rviz
- topics / The relationship between topics and frames
- frame / The relationship between topics and frames
- frame transformations, visualizing / Visualizing frame transformations
- 10DOF sensor
- ROS node, creating / Creating a ROS node to use data from the 10DOF sensor
- demos, PR2 simulator
- running / Running the demos of the PR2 simulator
- Displays pane / Visualizing data on a 3D world using rviz
- DOF / Using a low-cost IMU – 10 degrees of freedom
- Dynamixel servomotor
- about / Using servomotors – Dynamixel
- commands, sending / How does Dynamixel send and receive commands for the movements?
- commands, receiving / How does Dynamixel send and receive commands for the movements?
- using, example creating / Creating an example to use the servomotor
E
- echo parameter / Learning how to interact with topics
- Edit | Software Sources / Installing ROS Electric – using repositories
F
- File | Import Appliance / Creating the virtual machine
- FireWire IEEE1394 cameras
- about / FireWire IEEE1394 cameras
- first URDF file
- creating / Creating our first URDF file
- file format,explaining / Explaining the file format
- 3D model, watching on rviz / Watching the 3D model on rviz
- meshes, loading to models / Loading meshes to our models
- robot model, moving / Making our robot model movable
- physical properties / Physical and collision properties
- frame transformations, 3D visualization
- used, for message inspection in bag file / Visualizing frame transformations
G
- gamepad
- using / Using a joystick or gamepad
- Gazebo
- using / Simulation in ROS
- URL / Simulation in ROS, Running REEM using the Gazebo simulator
- URDF 3D model, using / Using our URDF 3D model in Gazebo
- sensors, adding / Adding sensors to Gazebo
- map, loading / Loading and using a map in Gazebo
- map, using / Loading and using a map in Gazebo
- robot, moving / Moving the robot in Gazebo
- used, for creating odometry / How Gazebo creates the odometry
- Gazebo simulator
- used, for REEM run / Running REEM using the Gazebo simulator
- GDB debugger
- using, ROS nodes used / Using the GDB debugger with ROS nodes
- global costmap
- configuring / Configuring the global costmap
- global plan
- about / Global plan
- gmapping algorithm / Localization and mapping
- gscam_config command / USB cameras
- GUID parameter / FireWire IEEE1394 cameras
H
- HMC5883L sensor / Using a low-cost IMU – 10 degrees of freedom
- Hokuyo URG-04lx rangefinder
- about / Using a laser rangefinder – Hokuyo URG-04lx
- using / Using a laser rangefinder – Hokuyo URG-04lx
- data sending process / Understanding how the laser sends data in ROS
- laser data, accessing / Accessing the laser data and modifying it
- launch file, creating / Creating a launch file
- holonomic vehicle / Base local planner configuration
- Human Robot Interaction (HRI) / REEM – the humanoid of PAL Robotics
- Husky
- about / Husky – the rover of Clearpath Robotics
- simulator, installing / Installing the Husky simulator
- running, on simulation / Running Husky on simulation
I
- images
- visualizing / Visualization of images
- single image, visualizing / Visualizing a single image
- Firewire cameras / FireWire cameras
- stereo vision, working with / Working with stereo vision
- ImageTransport
- used, for image publishing / Publishing images with ImageTransport
- ImageTransport API
- used, for camera frame publishing / Using the ImageTransport API to publish the camera frames
- Import button / Creating the virtual machine
- IMU
- about / Using the IMU – Xsens MTi
- include/package_name/ / Packages
- inflated obstacles
- about / Inflated obstacles
J
- joints / Explaining the file format
- joystick
- using / Using a joystick or gamepad
- movements, sending / How does joy_node send joystick movements?
- joystick data
- used, for turtle moving / Using joystick data to move a turtle in turtlesim
- joy_node / How does joy_node send joystick movements?
K
- Kinect sensor
- used, for 3D viewing / Using the Kinect sensor to view in 3D
- data, viewing / How does Kinect send data from the sensors and how to see it?
- using, example creating / Creating an example to use Kinect
L
- L3G4200D sensor / Using a low-cost IMU – 10 degrees of freedom
- launch file
- creating, for navigation stack / Creating a launch file for the navigation stack
- Lidar / Using a laser rangefinder – Hokuyo URG-04lx
- links / Explaining the file format
- listener, transforms
- creating / Creating a listener
- local costmap
- configuring / Configuring the local costmap
- Logitech Attack 3 / Using a joystick or gamepad
- low-cost sensor
- using / Using a low-cost IMU – 10 degrees of freedom
- ADXL345 / Using a low-cost IMU – 10 degrees of freedom
- HMC5883L / Using a low-cost IMU – 10 degrees of freedom
- BMP085 / Using a low-cost IMU – 10 degrees of freedom
- L3G4200D / Using a low-cost IMU – 10 degrees of freedom
- accelerometer library, downloading / Downloading the library for the accelerometer
- Arduino Nano, programming / Programming Arduino Nano and the 10DOF sensor
- 10DOF sensor / Programming Arduino Nano and the 10DOF sensor
M
- manifest.xml / Packages
- map
- creating, ROS used / Creating a map with ROS
- saving, map_server used / Saving the map using map_server
- loading, map_server used / Loading the map using map_server
- map_server
- about / Creating a map with ROS
- used, for saving map / Saving the map using map_server
- used, for loading map / Loading the map using map_server
- master / Understanding the ROS Computation Graph level
- about / Master
- messages / Understanding the ROS Computation Graph level
- about / Messages
- debugging / Debugging messages, Outputting a debug message
- debug message level, setting / Setting the debug message level
- debugging level, configuring / Configuring the debugging level of a particular node
- , naming / Giving names to messages
- conditional messages / Conditional and filtered messages
- filtered messages / Conditional and filtered messages
- displaying, times / More messages – once, throttle, and combinations
- messages, ROS Computation Graph level
- msg/ / Packages
N
- navigation stack
- about / The navigation stack in ROS
- package, creating / Creating a package
- robot configuration, creating / Creating a robot configuration
- costmaps, configuring / Configuring the costmaps (global_costmap) and (local_costmap)
- base planner configuration / Base local planner configuration
- launch file, creating / Creating a launch file for the navigation stack
- rviz, setting up / Setting up rviz for the navigation stack
- obstacles, avoiding / Avoiding obstacles
- goals, sending / Sending goals
- nodes / Understanding the ROS Computation Graph level
O
- obstacles
- about / Obstacles
- Occupancy Grid Map (OGM) / Localization and mapping
- odometry
- about / Publishing odometry information
- creating, with Gazebo / How Gazebo creates the odometry
- odometry information
- publishing / Publishing odometry information
- odom link / Moving the robot in Gazebo
- OpenCV
- used, for creating own USB camera / Making your own USB camera driver with OpenCV
- OpenCV used, for own USB camera creation
- about / Making your own USB camera driver with OpenCV
- USB camera driver package, creating / Creating the USB camera driver package
- ImageTransport API, using / Using the ImageTransport API to publish the camera frames
- cv_bridge, using / Dealing with OpenCV and ROS images using cv_bridge
- images, pubshing with ImageTransport / Publishing images with ImageTransport
- in ROS / Using OpenCV in ROS
- camera input images, visualizing / Visualizing the camera input images
P
- package, navigation stack
- creating / Creating a package
- packages
- packages, tools
- PAL Robotics
- parameter server
- about / Parameter Server
- Parameter Server / Understanding the ROS Computation Graph level
- particle cloud
- about / Particle cloud
- Play button / Inspecting all the topics and messages in a bag file using rxbag
- PointCloud2 / How does Kinect send data from the sensors and how to see it?
- Point Cloud Library (PCL) / Creating an example to use Kinect
- PR2
- about / PR2 – the Willow Garage robot
- running, in simulation / Running PR2 in simulation
- localization / Localization and mapping
- mapping / Localization and mapping
- PR2 simulator
- using / Installing the PR2 simulator
- installing / Installing the PR2 simulator
- demos, running / Running the demos of the PR2 simulator
- publish_odometry() function / How Gazebo creates the odometry
R
- REEM
- about / REEM – the humanoid of PAL Robotics
- -A / REEM – the humanoid of PAL Robotics
- -B / REEM – the humanoid of PAL Robotics
- -C / REEM – the humanoid of PAL Robotics
- -H1 / REEM – the humanoid of PAL Robotics
- istalling, from official repository / Installing REEM from the official repository
- running, Gazebo simulator used / Running REEM using the Gazebo simulator
- REEM-H1 / REEM – the humanoid of PAL Robotics
- Robonaut 2
- about / Robonaut 2 – the dexterous humanoid of NASA
- installing, from sources / Installing the Robonaut 2 from the sources
- running, in ISS fixed pedestal / Running Robonaut 2 in the ISS fixed pedestal
- arms, controlling / Controlling the Robonaut 2 arms
- controlling, with Interactive Markers / Controlling the robot easily with interactive markers
- legs, giving / Giving legs to Robonaut 2
- ISS environment, loading / Loading the ISS environment
- Robonaut 2 arms
- Joint mode / Controlling the Robonaut 2 arms
- Cartesian mode / Controlling the Robonaut 2 arms
- robot
- REEM / REEM – the humanoid of PAL Robotics
- PR2 / PR2 – the Willow Garage robot
- Robonaut 2 / Robonaut 2 – the dexterous humanoid of NASA
- Husky / Husky – the rover of Clearpath Robotics
- TurtleBot / TurtleBot – the low-cost mobile robot
- robot configuration
- creating / Creating a robot configuration
- robot footprint
- about / Robot footprint
- ROS
- practice tutorials / Some tutorials to practice with ROS
- simulation / Simulation in ROS
- OpenCV, using / Using OpenCV in ROS
- navigation stack / The navigation stack in ROS
- used, for creating map / Creating a map with ROS
- rosbag tool / Bags
- roscd command / Packages
- ROS Community level
- about / Understanding the ROS Community level
- distribution / Understanding the ROS Community level
- repositories / Understanding the ROS Community level
- ROS Wiki / Understanding the ROS Community level
- mailing lists / Understanding the ROS Community level
- ROS Computation Graph level
- about / Understanding the ROS Computation Graph level
- nodes / Understanding the ROS Computation Graph level
- master / Understanding the ROS Computation Graph level
- parameter Server / Understanding the ROS Computation Graph level
- topic / Understanding the ROS Computation Graph level
- services / Understanding the ROS Computation Graph level
- bags / Understanding the ROS Computation Graph level
- rosconsole
- roscore command / Master, Creating a ROS node to use data from the 10DOF sensor
- roscp command / Packages
- roscreate-pkg command / Packages
- rosd command / Packages
- rosdep command / Packages
- rosed command / Packages
- rosed tool / Building the node
- ROS Electric
- installing, respositories used / Installing ROS Electric – using repositories
- ROS Electric installation
- repositories, adding to sources.list file / Adding repositories to your sources.list file
- keys, setting / Setting up your keys
- starting with / Installation
- environment setup / The environment setup
- ROS filesystem
- avigating through / Navigating through the ROS filesystem
- ROS Filesystem level
- about / Understanding the ROS Filesystem level
- packages / Understanding the ROS Filesystem level, Packages
- manifests / Understanding the ROS Filesystem level
- stacks / Understanding the ROS Filesystem level, Stacks
- stack manifests / Understanding the ROS Filesystem level
- message (msg) types / Understanding the ROS Filesystem level
- service (srv) types / Understanding the ROS Filesystem level
- messages / Messages
- services / Services
- ROS Fuerte
- installing, repositories used / Installing ROS Fuerte – using repositories
- ROS Fuerte installation
- repositories, using / Installing ROS Fuerte – using repositories
- Ubuntu repositories, configuring / Configuring your Ubuntu repositories
- source.list file, setting up / Setting up your source.list file
- keys, setting up / Setting up your keys
- steps / Installation
- environment setup / The environment setup
- standalone tools / Standalone tools
- ROS image pipeline
- about / The ROS image pipeline
- for stereo cameras / Image pipeline for stereo cameras
- roslaunching / Attaching a node to GDB while launching ROS
- rosls command / Packages
- rosmake command / Packages
- rosmsg list parameter / Messages
- rosmsg md5 parameter / Messages
- rosmsg package parameter / Messages
- rosmsg packages parameter / Messages
- rosmsg show parameter / Messages
- rosmsg users parameter / Messages
- ROS nodes
- playing with / Playing with ROS nodes
- debugging / Debugging ROS nodes, Using the GDB debugger with ROS nodes, Attaching a node to GDB while launching ROS, Enabling core dumps for ROS nodes
- GDB debugger, using / Using the GDB debugger with ROS nodes
- attaching, to GDB / Attaching a node to GDB while launching ROS
- core dumps, enabling / Enabling core dumps for ROS nodes
- rosout / Inspecting the node's graph online with rxgraph
- ROS package
- creating / Creating an ROS package
- building / Building an ROS package
- ROS packages, for computer vision tasks
- Visual Servoing (Vision-based Robot Control) / ROS packages useful for computer vision tasks
- Augmented Reality (AR) / ROS packages useful for computer vision tasks
- Perception / ROS packages useful for computer vision tasks
- recognition / ROS packages useful for computer vision tasks
- Visual odometry / ROS packages useful for computer vision tasks
- rospack command / Packages
- rosparam delete parameter / Parameter Server, Using the Parameter Server
- rosparam dump file / Parameter Server, Using the Parameter Server
- rosparam get parameter / Parameter Server, Using the Parameter Server
- rosparam list / Parameter Server, Using the Parameter Server
- rosparam load file / Parameter Server, Using the Parameter Server
- rosparam set parameter value / Parameter Server, Using the Parameter Server
- rosparam tool / Parameter Server
- ROS practice tutorials
- ROS filesystem, navigating through / Navigating through the ROS filesystem
- own workspace, creating / Creating our own workspace
- ROS package, creating / Creating an ROS package
- ROS package, building / Building an ROS package
- ROS nodes, playing with / Playing with ROS nodes
- topics, interacting with / Learning how to interact with topics
- services, using / Learning how to use services
- Parameter Server, using / Using the Parameter Server
- nodes, creating / Creating nodes
- node, building / Building the node
- msg, creating / Creating msg and srv files
- srv files, creating / Creating msg and srv files
- new srv, using / Using the new srv and msg files
- msg files, using / Using the new srv and msg files
- rosservice call /service args command / Services
- rosservice find msg-type command / Services
- rosservice info /service command / Services
- rosservice list command / Services
- rosservice type /service command / Services
- rosservice uri /service command / Services
- ROS setup, for navigation stack
- transforms, creating / Creating transforms
- sensor information, publishing / Publishing sensor information
- odometry information, publishing / Publishing odometry information
- base controller, creating / Creating a base controller
- map, creating / Creating a map with ROS
- rostopic bw / Learning how to interact with topics
- rostopic bw /topic parameter / Topics
- rostopic command / How does Xsens send data in ROS?
- rostopic echo / Learning how to interact with topics
- rostopic echo /topicparameter / Topics
- rostopic echo command / Adding sensors to Gazebo
- rostopic find / Learning how to interact with topics
- rostopic find message_type parameter / Topics
- rostopic hz / Learning how to interact with topics
- rostopic hz /topic parameter / Topics
- rostopic info / Learning how to interact with topics
- rostopic info /topic parameter / Topics
- rostopic list
- rostopic list parameter / Topics
- rostopic pub / Learning how to interact with topics
- rostopic pub /topic type args parameter / Topics
- Rostopic tool / Bags
- rostopic tool / Learning how to interact with topics
- rostopic type / Learning how to interact with topics
- rostopic type /topic parameter / Topics
- roswtf
- running / When something weird happens – roswtf!
- rqt plugins
- versus rx applications / rqt plugins versus rx applications
- rviz
- about / The relationship between topics and frames, Setting up rviz for the navigation stack
- setting up, for navigation stack / Setting up rviz for the navigation stack
- rx applications
- versus rqt plugins / rqt plugins versus rx applications
- rxbag
- used, for message inspection in bag file / Inspecting all the topics and messages in a bag file using rxbag
- Rxbag tool / Bags
- rxconsol
- rxdeps command / Packages
- rxgraph
- used, for node graph online inspection / Inspecting the node's graph online with rxgraph
S
- scalar data
- plotting / Plotting scalar data
- time series plot creating, rxplot used / Creating a time series plot with rxplot
- rxtools / Other plotting utilities – rxtools
- scripts/ / Packages
- sensor information
- publishing / Publishing sensor information
- laser node, creating / Creating the laser node
- Serial Clock (SCK) / Using a low-cost IMU – 10 degrees of freedom
- Serial Data Line (SDL) / Using a low-cost IMU – 10 degrees of freedom
- services / Understanding the ROS Computation Graph level
- Setup button / Using rosconsole and rxconsole to modify the debugging level on the fly
- simulation, in ROS
- about / Simulation in ROS
- URDF 3D model, using in Gazebo / Using our URDF 3D model in Gazebo
- sensors, adding / Adding sensors to Gazebo
- map, loading / Loading and using a map in Gazebo
- robot, moving / Moving the robot in Gazebo
- SketchUp
- 3D modeling / 3D modeling with SketchUp
- src/ / Packages
- srv/ / Packages
- stacks
- about / Stacks
- static map
- about / Static map
- stereo cameras
- image pipeline / Image pipeline for stereo cameras
T
- TCPROS / Topics
- TF (transform frame) / Visualizing data on a 3D world using rviz
- TF (Transform Frames)
- about / Creating transforms
- tools, for using bag files
- topics / Understanding the ROS Computation Graph level
- about / Topics
- transformation tree, transforms
- viewing / Watching the transformation tree
- transforms
- creating / Creating transforms
- broadcaster, creating / Creating a broadcaster
- listener, creating / Creating a listener
- transformation tree, viewing / Watching the transformation tree
- TurtleBot
- about / TurtleBot – the low-cost mobile robot
- installing / Running TurtleBot on simulation
- TurtleBot simulation
- installing / Installing the TurtleBot simulation
- running, on simulation / Running TurtleBot on simulation
U
- Ubuntu
- installing, steps / How to install VirtualBox and Ubuntu, Downloading VirtualBox
- ubuntu distro / Connecting and running the camera
- UDPROS / Topics
- Unmanned Ground Vehicle (UGV) / Husky – the rover of Clearpath Robotics
- URDF / A 3D model of our robot in ROS
- USB camera driver package
- creating / Creating the USB camera driver package
- USB cameras
- about / USB cameras
V
- VirtualBox
- installing, steps / How to install VirtualBox and Ubuntu, Downloading VirtualBox
- downloading / Downloading VirtualBox
- virtual machine, creating / Creating the virtual machine
- viso2
- used, for visual odometry performance / Performing visual odometry with viso2
- visualization topic, navigation stack
- 2D pose estimate / 2D pose estimate
- 2D nav goal / 2D nav goal
- static map / Static map
- particle cloud / Particle cloud
- robot footprint / Robot footprint
- obstacles / Obstacles
- inflated obstacles / Inflated obstacles
- global plan / Global plan
- local plan / Local plan
- planner plan / Planner plan
- goal / Current goal
- visual odometry
- performing, with viso2 / Performing visual odometry with viso2
- visual odometry, performing with viso2
- about / Performing visual odometry with viso2
- camera pose calibration / Camera pose calibration
- viso2 online demo, running / Running the viso2 online demo
- viso2, running / Running viso2 with our low-cost stereo camera
W
- world file / Localization and mapping
- world frame / The relationship between topics and frames
X
- Xacro
- about / Xacro – a better way to write our robot models
- constants, using / Using constants
- math, using / Using math
- macros, using / Using macros
- robot, moving with code / Moving the robot with code
- 3D modeling, with SketchUp / 3D modeling with SketchUp
- Xsens MTi
- about / Using the IMU – Xsens MTi
- data, sending in ROS / How does Xsens send data in ROS?
- using, example creating / Creating an example to use Xsens