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.

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ROS Robotics By Example
Jun, 2016 | 428 pages
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Table of Contents (17 chapters)
ROS Robotics By Example
ROS Robotics By Example
Credits
Credits
About the Authors
About the Authors
About the Reviewer
About the Reviewer
www.PacktPub.com
www.PacktPub.com
Preface
Preface
Free Chapter
1
Getting Started with ROS
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)
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
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
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)
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
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
Making a Robot Fly
Introducing quadrotors
Understanding quadrotor sensors
Preparing to fly your quadrotor
Using ROS with UAVs
Introducing Hector Quadrotor
Introducing Crazyflie 2.0
Introducing Bebop
Summary
8
Controlling Your Robots with External Devices
Controlling Your Robots with External Devices
Creating a custom ROS game controller interface
Creating a custom ROS Android device interface
Creating ROS nodes on Arduino or Raspberry Pi
Summary
9
Flying a Mission with Crazyflie
Flying a Mission with Crazyflie
Mission components
Loading software for the mission
Setting up the mission
How to control Crazyflie
Flying Crazyflie
Summary
10
Extending Your ROS Abilities
Extending Your ROS Abilities
Controlling a robot with your voice
Enabling a robot to speak
Enabling a robot to recognize faces
Summary
Index
Index

Chapter 4. Navigating the World with TurtleBot

In the previous chapter, the TurtleBot robot was described as a two-wheeled differential drive robot developed by Willow Garage. The setup of the TurtleBot hardware, netbook, network system, and remote computer were explained, so the user could set up and operate his own TurtleBot. Then, the TurtleBot was driven around using the keyboard control, command-line control, and a Python script.

In this chapter, we will expand TurtleBot's capabilities by giving the robot vision. The chapter begins by describing 3D vision systems and how they are used to map obstacles within the camera's field of view. The three types of 3D sensors typically used for TurtleBot are shown and described, detailing their specifications.

Setting up the 3D sensor for use on TurtleBot is described and the configuration is tested in a standalone mode. To visualize the sensor data coming from TurtleBot, two ROS tools are utilized: Image Viewer and rviz. Then, an important aspect...

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