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

Modifying parameters with rqt_reconfigure


A good option for understanding all the parameters configured in this chapter, is by using rqt_reconfigure to change the values without restarting the simulation.

To launch rqt_reconfigure, use the following command:

$ rosrun rqt_reconfigure rqt_reconfigure

You will see the screen as follows:

As an example, we are going to change the parameter max_vel_x configured in the file, base_local_planner_params.yaml. Click over the move_base menu and expand it. Then select TrajectoryPlannerROS in the menu tree. You will see a list of parameters. As you can see, the max_vel_x parameter has the same value that we assigned in the configuration file.

You can see a brief description for the parameter by hovering the mouse over the name for a few seconds. This is very useful for understanding the function of each parameter.