6. Wobbling Robot Arms Using Joint Control | ROS Robotics By Example

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ROS Robotics By Example

By : Carol Fairchild, Dr. Thomas L. Harman

4.3 (7)

ROS Robotics By Example

4.3 (7)

By: Carol Fairchild, Dr. Thomas L. Harman

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.

Preface

Preface

What this book covers

What you need for this book

Who this book is for

Conventions

Reader feedback

Customer support

Free Chapter

1. Getting Started with ROS

1. Getting Started with ROS

What does ROS do and what are the benefits of learning ROS?

Which robots are using ROS?

Installing and launching ROS

Creating a catkin workspace

ROS packages and manifest

ROS nodes and ROS Master

Turtlesim, the first ROS robot simulation

ROS commands summary

Summary

2. Creating Your First Two-Wheeled ROS Robot (in Simulation)

2. Creating Your First Two-Wheeled ROS Robot (in Simulation)

Rviz

Creating and building a ROS package

Building a differential drive robot URDF

Gazebo

Summary

3. Driving Around with TurtleBot

3. Driving Around with TurtleBot

Introducing TurtleBot

Loading TurtleBot simulator software

Launching TurtleBot simulator in Gazebo

Setting up to control a real TurtleBot

Networking the netbook and remote computer

TurtleBot hardware specifications

Move the real TurtleBot

Introducing rqt tools

TurtleBot's odometry

TurtleBot automatic docking

Summary

4. Navigating the World with TurtleBot

4. Navigating the World with TurtleBot

3D vision systems for TurtleBot

Configuring TurtleBot and installing the 3D sensor software

Testing the 3D sensor in standalone mode

Running ROS nodes for visualization

Navigating with TurtleBot

Summary

5. Creating Your First Robot Arm (in Simulation)

5. Creating Your First Robot Arm (in Simulation)

Features of Xacro

Building an articulated robot arm URDF using Xacro

Controlling an articulated robot arm in Gazebo

Summary

6. Wobbling Robot Arms Using Joint Control

6. Wobbling Robot Arms Using Joint Control

Introducing Baxter

Baxter's arms

Loading the Baxter software

Launching Baxter Simulator in Gazebo

Baxter's arms and forward kinematics

Introducing MoveIt

Configuring a real Baxter setup

Controlling a real Baxter

Inverse kinematics

Summary

7. Making a Robot Fly

7. Making a Robot Fly

Introducing quadrotors

Understanding quadrotor sensors

Preparing to fly your quadrotor

Using ROS with UAVs

Introducing Hector Quadrotor

Introducing Crazyflie 2.0

Introducing Bebop

Summary

8. Controlling Your Robots with External Devices

8. Controlling Your Robots with External Devices

Creating a custom ROS game controller interface

Creating a custom ROS Android device interface

Creating ROS nodes on Arduino or Raspberry Pi

Summary

9. Flying a Mission with Crazyflie

9. Flying a Mission with Crazyflie

Mission components

Loading software for the mission

Setting up the mission

How to control Crazyflie

Flying Crazyflie

Summary

10. Extending Your ROS Abilities

10. Extending Your ROS Abilities

Controlling a robot with your voice

Enabling a robot to speak

Enabling a robot to recognize faces

Summary

Index

Index

Controlling a real Baxter

The baxter_examples programs described in the subsections within the Launching Baxter Simulator in Gazebo section also work on a real Baxter robot. Some additional arm control programs that work on a real Baxter but not on Baxter Simulator are described in the following sections.

Commanding joint position waypoints

This program is another example of joint position control for Baxter's arms. Baxter's arm is moved using the Zero-G mode to freely configure the arm's joints to a desired position. When the desired position is attained, the corresponding navigator button on the arm is pressed to record the waypoint position. This baxter_examples program is executed with the following command specifying either right or left for the arm to be moved:

$ rosrun baxter_examples joint_position_waypoints.py -l <right or left>

The output should be as follows:

...

Press Navigator 'OK/Wheel' button to record a new joint position waypoint.Press Navigator 'Rethink' button when...

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Tech Concepts

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Programming languages

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