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

Running ROS nodes for visualization

Viewing images on the remote computer is the next step to setting up the TurtleBot. Two ROS tools can be used to visualize the rgb and depth camera images. Image Viewer and rviz are used in the following sections to view the image streams published by the Kinect sensor.

Visual data using Image Viewer

A ROS node can allow us to view images that come from the rgb camera on Kinect. The camera_nodelet_manager node implements a basic camera capture program using OpenCV to handle publishing ROS image messages as a topic. This node publishes the camera images in the /camera namespace.

Three terminal windows will be required to launch the base and camera nodes on TurtleBot and launch the Image Viewer node on the remote computer. The steps are as follows:

  1. Terminal Window 1: Minimal launch of TurtleBot:

    $ ssh <username>@<TurtleBot's IP Address>
    $ roslaunch turtlebot_bringup minimal.launch
  2. Terminal Window 2: Launch freenect camera:

    $ ssh <username>...