Book Image

Mastering ROS for Robotics Programming - Second Edition

By : Jonathan Cacace, Lentin Joseph
Book Image

Mastering ROS for Robotics Programming - Second Edition

By: Jonathan Cacace, Lentin Joseph

Overview of this book

In this day and age, robotics has been gaining a lot of traction in various industries where consistency and perfection matter. Automation is achieved via robotic applications and various platforms that support robotics. The Robot Operating System (ROS) is a modular software platform to develop generic robotic applications. This book focuses on the most stable release of ROS (Kinetic Kame), discusses advanced concepts, and effectively teaches you programming using ROS. We begin with aninformative overview of the ROS framework, which will give you a clear idea of how ROS works. During the course of this book, you’ll learn to build models of complex robots, and simulate and interface the robot using the ROS MoveIt! motion planning library and ROS navigation stacks. Learn to leverage several ROS packages to embrace your robot models. After covering robot manipulation and navigation, you’ll get to grips with the interfacing I/O boards, sensors, and actuators of ROS. Vision sensors are a key component of robots, and an entire chapter is dedicated to the vision sensor and image elaboration, its interface in ROS and programming. You’ll also understand the hardware interface and simulation of complex robots to ROS and ROS Industrial. At the end of this book, you’ll discover the best practices to follow when programming using ROS.
Table of Contents (22 chapters)
Title Page
Copyright and Credits
www.PacktPub.com
Contributors
Preface
Index

Working with ROS camera calibration


Like all sensors, cameras also need calibration for correcting the distortions in the camera images due to the camera's internal parameters, and for finding the world coordinates from the camera coordinates.

The primary parameters that cause image distortions are radial distortions and tangential distortions. Using the camera calibration algorithm, we can model these parameters and also calculate the real-world coordinates from the camera coordinates by computing the camera calibration matrix, which contains the focal distance and the principle points.

Camera calibration can be done using a classic black-white chessboard, symmetrical circle pattern, or an asymmetrical circle pattern. According to each different pattern, we use different equations to get the calibration parameters. Using the calibration tools, we detect the patterns, and each detected pattern is taken as a new equation. When the calibration tool gets enough detected patterns it can compute...