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 Dynamixel with ROS


If you successfully configured the Dynamixel servo, then it will be very easy to interface Dynamixel with ROS running on Ubuntu. As we've already discussed, there is no need of an FTDI driver in Ubuntu because it's already built into the kernel. The only thing we have to do is install the ROS Dynamixel driver packages.

The ROS Dynamixel packages are available at the following link:

http://wiki.ros.org/dynamixel_motor

You can install the Dynamixel ROS packages using commands we'll look at now.

Installing the ROS dynamixel_motor packages

The ROS dynamixel_motor package stack is a dependency for the face tracker project, so we can install it to the ros_project_dependencies_ws ROS workspace.

Open a Terminal and switch to the src folder of the workspace:

$ cd ~/ros_project_dependencies_ws/src

Clone the latest Dynamixel driver packages from GitHub:

$ git clone https://github.com/arebgun/dynamixel_motor

Remember to do a catkin_make to build the entire packages of the...