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

What is the Arduino-ROS interface?


Most of the communication between PCs and I/O boards in robots will be through the UART protocol. When both the devices communicate with each other, there should be some program in both the sides that can translate the serial commands from each of these devices. We can implement our own logic to receive and transmit the data from board to PC and vice versa. The interfacing code can be different in each I/O board because there are no standard libraries to do this communication.

The Arduino-ROS interface is a standard way of communication between the Arduino boards and the PC. Currently, this interface is exclusive for Arduino. We may need to write custom nodes to interface with other I/O boards.

We can use the similar C++ APIs of ROS used in the PC in the Arduino IDE also for programming the Arduino board. Detailed information about the interfacing package follows.

Understanding the rosserial package in ROS

The rosserial package is a set of standardized communication...