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
Table of Contents (37 chapters)
Title page
Copyright and Credits
Packt Upsell
Preface
Bibliography
Index

Visualizing IMU TF in Rviz


In this section, we are going to visualize the TF data from Arduino on Rviz. Here's the procedure to do that.

Plug the Arduino to the PC and find the Arduino's serial port. To get topics from the Arduino-ROS node, we should start a ROS serial server on the PC, listening on the Arduino serial port. We did this in Chapter 22, Controlling Embedded Boards Using ROS. Still, let's look at the commands again in this section too.

Starting roscore first:

$ roscore

Starting the ROS serial server:

$ rosrun rosserial_python serial_node.py /dev/ttyACM0

You can get the following topics when you run the previous node:

Figure 9: Listing ROS topics from Arduino

You can simply echo these topics, or visualize the TF data on Rviz. You can run Rviz using the following command. The base_link option is the fixed frame, and we can mention that on the command line itself.

$ rosrun rviz rviz -f base_link

The Rviz window will pop up, and if there is no TF option on the left-hand side of Rviz, add...