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

Summary


At the end of this chapter, you should have a robot-simulated or real-moving autonomously through the map (which models the environment), using the navigation stack. You can program the control and the localization of the robot by following the ROS philosophy of code reusability, so that you can have the robot completely configured without much effort. The most difficult part of this chapter is to understand all the parameters and learn how to use each one of them appropriately. The correct use of them will determine whether your robot works fine or not; for this reason, you must practice changing the parameters and look for the reaction of the robot.

In the next chapter, you will learn how to use MoveIt! with some tutorials and examples. If you don't know what MoveIt! is, it is a software for building mobile manipulation applications. With it, you can move your articulated robot in an easy way.