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

Integration and final run


We are almost done! But how to test this teleop tool? We can create some launch file that can start all these nodes and work with some robot simulation. The gesture_teleop/launch folder has three launch files. Let's take a look at them.

The gesture_teleop.launch file is a generic launch file that can be used for any robot. The only thing we need to edit is the command velocity topic. Here is the definition of this launch file:

     <launch> 
        <param name="teleop_topic" value="/cmd_vel"/> 
        <rosparam command="load" file="$(find 
           gesture_teleop)/config/teleop_config.yaml"/>   
      <node name="rosserial_server_node" pkg="rosserial_python"   
          type="serial_node.py" args="$(arg port)" output="screen"/>      
      <node name="gesture_teleop_node" pkg="gesture_teleop"   
          type="gesture_teleop.py" output="screen"/> 
     </launch> 

This launch file...