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

Loading software for the mission


Part of the software that needed to perform this cooperative mission has been installed in previous chapters:

  • The ROS software installation of the ros-indigo-desktop-full configuration is described in the Installing and launching ROS section of Chapter 1, Getting Started with ROS

  • The installation of Crazyflie ROS software is described in the Loading Crazyflie ROS software section of Chapter 7, Making a Robot Fly

Software for the Kinect v2 to interface with ROS requires the installation of two items: libfreenect2 and iai_kinect2. The following sections provide the details of these installations.

Installing libfreenect2

The libfreenect2 software provides an open-source driver for Kinect v2. This driver does not support the Kinect for Xbox 360 or Xbox One. Libfreenect2 provides for the image transfer of RGB and depth as well as the combined registration of RGB and depth. Image registration aligns the color and depth images for the same scene into one reference image...