Book Image

ROS Robotics Projects

Book Image

ROS Robotics Projects

Overview of this book

Robot Operating System is one of the most widely used software frameworks for robotic research and for companies to model, simulate, and prototype robots. Applying your knowledge of ROS to actual robotics is much more difficult than people realize, but this title will give you what you need to create your own robotics in no time! This book is packed with over 14 ROS robotics projects that can be prototyped without requiring a lot of hardware. The book starts with an introduction of ROS and its installation procedure. After discussing the basics, you’ll be taken through great projects, such as building a self-driving car, an autonomous mobile robot, and image recognition using deep learning and ROS. You can find ROS robotics applications for beginner, intermediate, and expert levels inside! This book will be the perfect companion for a robotics enthusiast who really wants to do something big in the field.
Table of Contents (20 chapters)
ROS Robotics Projects
Credits
About the Author
Acknowledgements
About the Reviewer
www.PacktPub.com
Customer Feedback
Preface

Interfacing IMUs with ROS


Most self-driving cars use integrated modules for GPS, IMU, and wheel encoders for accurate position prediction. In this section, we will look at some popular IMU modules that you can use if you want to use IMU alone.

I'll point you to a few links for ROS drivers used to interface with it. One of the popular IMUs is the MicroStrain 3DM-GX2 (http://www.microstrain.com/inertial/3dm-gx2):

Figure 25: Microstrain-3DM-GX2 IMU

Here are the ROS drivers for this IMU series:

http://wiki.ros.org/microstrain_3dmgx2_imu

http://wiki.ros.org/microstrain_3dm_gx3_45

Other than that, there are IMUs from Phidget (http://wiki.ros.org/phidgets_imu) and popular IMUs such as InvenSense MPU 9250, 9150, and 6050 models (https://github.com/jeskesen/i2c_imu). Another IMU sensor series called MTi from Xsens and its drivers can be found at http://wiki.ros.org/xsens_driver.