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

Testing the 3D sensor in standalone mode


Before we make an attempt to control the TurtleBot 2 from a remote computer, it is wise to test the TurtleBot 2 in standalone mode. TurtleBot will be powered on and we will use its netbook to check whether the robot is operational on its own.

To prepare the TurtleBot, the following steps should be performed:

  1. Plug in the power to the 3D sensor via the TurtleBot base connection (Kinect only).

  2. Plug in the power to the netbook via the TurtleBot base connection.

  3. Power on the netbook and establish the network connection on the netbook. This should be the network used for TurtleBot's ROS_MASTER_URI IP address.

  4. Power on the TurtleBot base.

  5. Plug in the 3D sensor to the netbook through a USB 2.0 port (for Kinect) or a USB 3.0 port (for Windows v2, Xtion 2, and RealSense).

Ensure that ROS environment variables are configured correctly on the netbook. Refer to the Netbook network setup section in Chapter 3, Driving Around with TurtleBot, and the Configuring TurtleBot...