This chapter was about vision sensors and its programming in ROS. We saw the interfacing packages to interface the cameras and 3D vision sensors such as vision_opencv
and perception_pcl
. We looked at each package and its functions on these stacks. We saw interfacing of basic webcam and processing image using ROS cv_bridge
. After discussing cv_bridge
, we looked at the interfacing of various 3D vision sensors and laser scanners with ROS. After interfacing, we learned how to process the data from these sensors using PCL library and ROS. At the end of the chapter, we understood how to stream a camera from an embedded device called Odroid to the PC. In the next chapter, we will see the interfacing of robotic hardware in ROS.
Mastering ROS for Robotics Programming
By :
Mastering ROS for Robotics Programming
By:
Overview of this book
The area of robotics is gaining huge momentum among corporate people, researchers, hobbyists, and students. The major challenge in robotics is its controlling software. The Robot Operating System (ROS) is a modular software platform to develop generic robotic applications.
This book discusses the advanced concepts in robotics and how to program using ROS. It starts with deep overview of the ROS framework, which will give you a clear idea of how ROS really works. During the course of the book, you will learn how to build models of complex robots, and simulate and interface the robot using the ROS MoveIt motion planning library and ROS navigation stacks.
After discussing robot manipulation and navigation in robots, you will get to grips with the interfacing I/O boards, sensors, and actuators of ROS. One of the essential ingredients of robots are vision sensors, and an entire chapter is dedicated to the vision sensor, its interfacing in ROS, and its programming.
You will discuss the hardware interfacing and simulation of complex robot to ROS and ROS Industrial (Package used for interfacing industrial robots).
Finally, you will get to know the best practices to follow when programming using ROS.
Table of Contents (19 chapters)
Mastering ROS for Robotics Programming
Credits
About the Author
About the Reviewers
www.PacktPub.com
Preface
Free Chapter
Introduction to ROS and Its Package Management
Working with 3D Robot Modeling in ROS
Simulating Robots Using ROS and Gazebo
Using the ROS MoveIt! and Navigation Stack
Working with Pluginlib, Nodelets, and Gazebo Plugins
Writing ROS Controllers and Visualization Plugins
Interfacing I/O Boards, Sensors, and Actuators to ROS
Programming Vision Sensors using ROS, Open-CV, and PCL
Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
Exploring the Advanced Capabilities of ROS-MoveIt!
ROS for Industrial Robots
Troubleshooting and Best Practices in ROS
Index
Customer Reviews