ROS Programming: Building Powerful Robots

Book Image

ROS Programming: Building Powerful Robots

By : Anil Mahtani, Aaron Martinez, Enrique Fernandez Perdomo, Luis Sánchez, Lentin Joseph

Book Image

ROS Programming: Building Powerful Robots

By: Anil Mahtani, Aaron Martinez, Enrique Fernandez Perdomo, Luis Sánchez, Lentin Joseph

Overview of this book

This learning path is designed to help you program and build your robots using open source ROS libraries and tools. We start with the installation and basic concepts, then continue with the more complex modules available in ROS, such as sensor and actuator integration (drivers), navigation and mapping (so you can create an autonomous mobile robot), manipulation, computer vision, perception in 3D with PCL, and more. We then discuss advanced concepts in robotics and how to program using ROS. You'll get a 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. We'll go 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 beginner, intermediate, and expert ROS robotics applications inside! It includes content from the following Packt products: ? Effective Robotics Programming with ROS - Third Edition ? Mastering ROS for Robotics Programming ? ROS Robotics Projects

Title page

Copyright and Credits

Copyright and Credits

Packt Upsell

Preface

Free Chapter

Getting Started with ROS

Getting Started with ROS

PC installation

How to install VirtualBox and Ubuntu

Using ROS from a Docker image

Installing ROS in BeagleBone Black

ROS Architecture and Concepts

ROS Architecture and Concepts

Understanding the ROS Filesystem level

Understanding the ROS Computation Graph level

Understanding the ROS Community level

Tutorials to practise with ROS

Visualization and Debugging Tools

Visualization and Debugging Tools

Debugging ROS nodes

Logging messages

Inspecting the system

Setting dynamic parameters

Dealing with the unexpected

Visualizing nodes diagnostics

Plotting scalar data

Image visualization

3D visualization

Saving and playing back data

Using the rqt_gui and rqt plugins

The Navigation Stack - Robot Setups

The Navigation Stack - Robot Setups

The navigation stack in ROS

Creating transforms

Publishing sensor information

Publishing odometry information

Creating a base controller

Creating a map with ROS

The Navigation Stack - Beyond Setups

The Navigation Stack - Beyond Setups

Creating a package

Creating a robot configuration

Configuring the costmaps - global_costmap and local_costmap

Creating a launch file for the navigation stack

Setting up rviz for the navigation stack

Adaptive Monte Carlo Localization

Modifying parameters with rqt_reconfigure

Avoiding obstacles

Manipulation with MoveIt!

Manipulation with MoveIt!

The MoveIt! architecture

Integrating an arm in MoveIt!

Simple motion planning

Motion planning with collisions

The pick and place task

Using Sensors and Actuators with ROS

Using Sensors and Actuators with ROS

Using a joystick or a gamepad

Using Arduino to add sensors and actuators

Using a low-cost IMU - 9 degrees of freedom

Using the IMU - Xsens MTi

Using a GPS system

Using a laser rangefinder - Hokuyo URG-04lx

Creating a launch file

Using the Kinect sensor to view objects in 3D

Using servomotors - Dynamixel

Computer Vision

Computer Vision

ROS camera drivers support

Visualizing the camera input images with rqt_image_view

Camera calibration

The ROS image pipeline

ROS packages useful for Computer Vision tasks

Performing visual odometry with an RGBD camera

Computing the homography of two images

Point Clouds

Understanding the PCL

My first PCL program

Working with 3D Robot Modeling in ROS

Working with 3D Robot Modeling in ROS

ROS packages for robot modeling

Understanding robot modeling using URDF

Creating the ROS package for the robot description

Creating our first URDF model

Explaining the URDF file

Visualizing the robot 3D model in RViz

Adding physical and collision properties to a URDF model

Understanding robot modeling using xacro

Conversion of xacro to URDF

Creating the robot description for a seven DOF robot manipulator

Explaining the xacro model of seven DOF arm

Creating a robot model for the differential drive mobile robot

Simulating Robots Using ROS and Gazebo

Simulating Robots Using ROS and Gazebo

Simulating the robotic arm using Gazebo and ROS

Working with Pluginlib, Nodelets, and Gazebo Plugins

Working with Pluginlib, Nodelets, and Gazebo Plugins

Understanding pluginlib

Understanding the Gazebo plugins

Writing ROS Controllers and Visualization Plugins

Writing ROS Controllers and Visualization Plugins

Understanding pr2_mechanism packages

Writing a basic real-time joint controller in ROS

Understanding ros_control packages

Understanding ROS visualization tool (RViz) and its plugins

Writing a RViz plugin for teleoperation

Interfacing I/O Boards, Sensors, and Actuators to ROS

Interfacing I/O Boards, Sensors, and Actuators to ROS

Understanding the Arduino-ROS interface

What is the Arduino-ROS interface?

Interfacing Dynamixel actuators to ROS

Programming Vision Sensors using ROS, Open-CV, and PCL

Programming Vision Sensors using ROS, Open-CV, and PCL

Understanding ROS - OpenCV interfacing packages

Understanding ROS - PCL interfacing packages

Interfacing USB webcams in ROS

Working with ROS camera calibration

Interfacing Kinect and Asus Xtion Pro in ROS

Interfacing Intel Real Sense camera with ROS

Interfacing Hokuyo Laser in ROS

Interfacing Velodyne LIDAR in ROS

Working with point cloud data

Streaming webcam from Odroid using ROS

Building and Interfacing Differential Drive Mobile Robot Hardware in ROS

Building and Interfacing Differential Drive Mobile Robot Hardware in ROS

Introduction to Chefbot- a DIY mobile robot and its hardware configuration

Exploring the Advanced Capabilities of ROS-MoveIt!

Exploring the Advanced Capabilities of ROS-MoveIt!

Motion planning using the move_group C++ interface

Collision checking in robot arm using MoveIt!

Working with perception using MoveIt! and Gazebo

Grasping using MoveIt!

Working with robot pick and place task using MoveIt!

Understanding Dynamixel ROS Servo controllers for robot hardware interfacing

Interfacing seven DOF Dynamixel based robotic arm to ROS MoveIt!

ROS for Industrial Robots

ROS for Industrial Robots

Understanding ROS-Industrial packages

Installing ROS-Industrial packages

Block diagram of ROS-Industrial packages

Creating URDF for an industrial robot

Creating MoveIt! configuration for an industrial robot

Installing ROS-Industrial packages of universal robotic arm

Understanding the Moveit! configuration of a universal robotic arm

Working with MoveIt! configuration of ABB robots

Understanding the ROS-Industrial robot support packages

ROS-Industrial robot client package

ROS-Industrial robot driver package

Understanding MoveIt! IKFast plugin

Creating the MoveIt! IKFast plugin for the ABB-IRB6640 robot

Creating the COLLADA file of a robot to work with OpenRave

Generating the IKFast CPP file for the IRB 6640 robot

Troubleshooting and Best Practices in ROS

Troubleshooting and Best Practices in ROS

Setting up Eclipse IDE on Ubuntu 14.04.3

Setting ROS development environment in Eclipse IDE

Best practices in ROS

Best practices in the ROS package

Important troubleshooting tips in ROS

Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos

Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos

Overview of the project

Hardware and software prerequisites

Interfacing Dynamixel with ROS

Creating face tracker ROS packages

Working with the face-tracking ROS package

Building a Siri-Like Chatbot in ROS

Building a Siri-Like Chatbot in ROS

Building social robots

Getting started with AIML

Controlling Embedded Boards Using ROS

Controlling Embedded Boards Using ROS

Getting started with popular embedded boards

Interfacing Arduino with ROS

Teleoperate a Robot Using Hand Gestures

Teleoperate a Robot Using Hand Gestures

Teleoperating ROS Turtle using a keyboard

Teleoperating using hand gestures

Setting up the project

Interfacing the MPU-9250 with the Arduino and ROS

Visualizing IMU TF in Rviz

Converting IMU data into twist messages

Integration and final run

Teleoperating using an Android phone

Object Detection and Recognition

Object Detection and Recognition

Getting started with object detection and recognition

The find_object_2d package in ROS

Getting started with 3D object recognition

Introduction to 3D object recognition packages in ROS

Detecting and recognizing objects from 3D meshes

Recognizing objects

Deep Learning Using ROS and TensorFlow

Deep Learning Using ROS and TensorFlow

Introduction to deep learning and its applications

Deep learning for robotics

Deep learning libraries

Getting started with TensorFlow

Image recognition using ROS and TensorFlow

Introducing to scikit-learn

Introducing to SVM and its application in robotics

ROS on MATLAB and Android

ROS on MATLAB and Android

Getting started with the ROS-MATLAB interface

Setting Robotics Toolbox in MATLAB

Communicating from MATLAB to a ROS network

Controlling a ROS robot from MATLAB

Getting started with Android and its ROS interface

Installing the ROS-Android interface

Playing with ROS-Android applications

Code walkthrough

Creating basic applications using the ROS-Android interface

Building an Autonomous Mobile Robot

Building an Autonomous Mobile Robot

Robot specification and design overview

Designing and selecting the motors and wheels for the robot

Building 2D and 3D models of the robot body

Simulating the robot model in Gazebo

Mathematical model of a differential drive robot

Designing and building actual robot hardware

Interfacing robot hardware with ROS

Gmapping and localization in Chefbot

Creating a Self-Driving Car Using ROS

Creating a Self-Driving Car Using ROS

Getting started with self-driving cars

Functional block diagram of a typical self-driving car

Simulating a self-driving car with sensors in Gazebo

Interfacing a DBW car with ROS

Introducing the Udacity open source self-driving car project

Teleoperating a Robot Using a VR Headset and Leap Motion

Teleoperating a Robot Using a VR Headset and Leap Motion

Getting started with a VR headset and Leap Motion

Project prerequisites

Design and working of the project

Installing the Leap Motion SDK on Ubuntu 14.04.5

Visualizing Leap Motion data in Rviz

Creating a teleoperation node using the Leap Motion controller

Building a ROS-VR Android application

Working with the ROS-VR application and interfacing with Gazebo

Working with TurtleBot simulation in VR

Troubleshooting the ROS-VR application

Integrating ROS-VR application and Leap Motion teleoperation

Controlling Your Robots over the Web

Controlling Your Robots over the Web

Getting started with ROS web packages

Setting up ROS web packages on ROS Kinetic

Installing tf2_web_republisher on ROS Kinetic

Teleoperating and visualizing a robot on a web browser

Controlling robot joints from a web browser

Web-based speech-controlled robot

Running a speech-controlled robot application

Bibliography

Other Books You May Enjoy

Other Books You May Enjoy

Leave a review - let other readers know what you think

Index

Customer Reviews

5 star

0

4 star

0

3 star

0

2 star

0

1 star

0

Motion planning using the move_group C++ interface

In this section, we will see how to program the robot motion using the move_group C++ APIs. Motion planning using RViz can also be done programmatically through the move_group C++ APIs.

The first step to start working with C++ APIs is to create another ROS package that has the MoveIt! packages as dependencies. You can get an existing package seven_dof_arm_test from chapter_10_codes/. We can create this same package using the following command:

$ catkin_create_pkg seven_dof_arm_test catkin cmake_modules
 interactive_markers moveit_core moveit_ros_perception
 moveit_ros_planning_interface pluginlib roscpp std_msgs

Motion planning a random path using MoveIt! C++ APIs

The first example that we are going to see is random motion planning using MoveIt! C++ APIs. You will get the code named test_random.cpp from the src folder. The code and the description of each line follows. When we execute this node, it will plan a random path and execute it:

//MoveIt...