Book Image

ROS Robotics By Example

Book Image

ROS Robotics By Example

Overview of this book

The visionaries who created ROS developed a framework for robotics centered on the commonality of robotic systems and exploited this commonality in ROS to expedite the development of future robotic systems. From the fundamental concepts to advanced practical experience, this book will provide you with an incremental knowledge of the ROS framework, the backbone of the robotics evolution. ROS standardizes many layers of robotics functionality from low-level device drivers to process control to message passing to software package management. This book provides step-by-step examples of mobile, armed, and flying robots, describing the ROS implementation as the basic model for other robots of these types. By controlling these robots, whether in simulation or in reality, you will use ROS to drive, move, and fly robots using ROS control.
Table of Contents (17 chapters)
ROS Robotics By Example
About the Authors
About the Reviewer

TurtleBot's odometry

In this section, we explore the TurtleBot's odometry. The general definition of odometry is the use of data from motion sensors to estimate change in position over time. Odometry is used by the TurtleBot to estimate its position and orientation relative to a starting location given in terms of an x and y position and an orientation around the z (upward) axis. The topic is /odom and the command to view the form of the /odom message is as follows:

$ rostopic echo /odom

When you execute this echo command, the output will be updated continuously on the screen. However, we wish to display TurtleBot's motion using rviz. When the odometry option is chosen in rviz, the TurtleBot's position and orientation will be displayed with arrows that are generated as TurtleBot moves.

Odom for the simulated TurtleBot

The simulated TurtleBot will be used to demonstrate the odometry display possible in rviz.


To run Gazebo on your remote computer, you must reassign the ROS Master if it is...