Book Image

ROS Robotics By Example

Book Image

ROS Robotics By Example

Overview of this book

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.
Table of Contents (17 chapters)
ROS Robotics By Example
Credits
About the Authors
About the Reviewer
www.PacktPub.com
Preface
Index

Chapter 3. Driving Around with TurtleBot

It is time for a real ROS robot! A robot called TurtleBot will be discussed and described both in simulation and as the real robot. In this chapter, you will learn how to move TurtleBot as a simulated robot and as the real robot. Even if you do not have a real TurtleBot, the examples in this chapter will teach you the techniques to control a mobile robot.

After introducing the TurtleBot, we will cover the following topics:

  • Loading the TurtleBot simulation software and using Gazebo with TurtleBot

  • Setting up your system to control a real TurtleBot from its own netbook computer or wirelessly from a remote computer

  • Controlling the movement of the TurtleBot with ROS terminal commands or using the keyboard for control in teleoperation

  • Creating a Python script which, when executed, moves the TurtleBot

  • Using rqt tools to provide a GUI that aids the user in analyzing robot programs and also monitoring and controlling the robot

  • Exploring an environment using TurtleBot...