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 a DBW car with ROS


In this section, we will see how to interface a real car with ROS and make it autonomous. As we discussed earlier, the DBW interface enables us to control a vehicle's throttle, brake, and steering using the CAN protocol.

There's an existing open source project that is doing this job. The project is owned by a company called Dataspeed Inc. (http://dataspeedinc.com/). Here is the list of projects related to self-driving cars from Dataspeed:

https://bitbucket.org/DataspeedInc/

We are going to discuss Dataspeed's ADAS vehicle development project.

First, we will see how to install the ROS packages of this project and look at the functionality of each package and node.

Installing packages

Here are the complete instructions to install these packages. We only need a single command to install all these packages.

We can install this on ROS Indigo and ROS Kinetic using the following command:

bash <(wget -q -O - https://bitbucket.org/DataspeedInc/dbw_mkz_ros/raw/default...