Book Image

Mastering ROS for Robotics Programming

By : Lentin Joseph
Book Image

Mastering ROS for Robotics Programming

By: Lentin Joseph

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
Index

Streaming webcam from Odroid using ROS


ROS system is designed mainly for distributive computing. We can write and run the ROS nodes on multiple machines and communicate each node to a single master. For communicating between two devices using ROS, we should follow the following rules:

  • Only single ROS master should run; we can decide which machine should run the master

  • All machines should be configured to use the same master URI through ROS_MASTER_URI

  • Bi-directional connectivity should be ensured between all the pairs of machines

  • Each machine should have a name that can be identified by the other machines

In this section, we will see how to run the ROS master in Odroid and stream the camera images to a PC. First, we will look at the setup required for the distributing computing between Odroid and PC.

Connect Odroid to the PC directly using the LAN cable and create a Ethernet hotspot, as we mentioned in the previous chapter. Find the IPs of Odroid and the PC and set the following lines of command...