Book Image

ROS Robotics By Example, Second Edition - Second Edition

By : Carol Fairchild, Lentin Joseph, Dr. Thomas L. Harman
Book Image

ROS Robotics By Example, Second Edition - Second Edition

By: Carol Fairchild, Lentin Joseph, Dr. Thomas L. Harman

Overview of this book

ROS is a robust robotics framework that works regardless of hardware architecture or hardware origin. It standardizes most layers of robotics functionality from device drivers to process control and message passing to software package management. But apart from just plain functionality, ROS is a great platform to learn about robotics itself and to simulate, as well as actually build, your first robots. This does not mean that ROS is a platform for students and other beginners; on the contrary, ROS is used all over the robotics industry to implement flying, walking and diving robots, yet implementation is always straightforward, and never dependent on the hardware itself. ROS Robotics has been the standard introduction to ROS for potential professionals and hobbyists alike since the original edition came out; the second edition adds a gradual introduction to all the goodness available with the Kinetic Kame release. By providing you with step-by-step examples including manipulator arms and flying robots, the authors introduce you to the new features. The book is intensely practical, with space given to theory only when absolutely necessary. By the end of this book, you will have hands-on experience on controlling robots with the best possible framework.
Table of Contents (18 chapters)
ROS Robotics By Example Second Edition
Credits
About the Authors
About the Reviewer
www.PacktPub.com
Customer Feedback
Preface
Index

Chapter 3. Driving Around with TurtleBot

It is time for a real ROS robot! A robot called TurtleBot will be discussed and described both in simulation and as the real robot. In this chapter, you will learn how to move TurtleBot as a simulated robot and as the real robot. Even if you do not have a real TurtleBot, the examples in this chapter will teach you the techniques to control a mobile robot.

After introducing TurtleBot 2, we will cover the following topics:

  • Loading the TurtleBot simulation software and using Gazebo with TurtleBot

  • Setting up your system to control a real TurtleBot from its own netbook computer or wirelessly from a remote computer

  • Controlling the movement of the TurtleBot with ROS terminal commands or using the keyboard for control in teleoperation

  • Creating a Python script which, when executed, moves TurtleBot

  • Using rqt tools to provide a GUI that aids the user in analyzing robot programs and also monitoring and controlling the robot

  • Exploring an environment using TurtleBot's...