Book Image

Robot Operating System Cookbook

By : Kumar Bipin
Book Image

Robot Operating System Cookbook

By: Kumar Bipin

Overview of this book

This book will leverage the power of ROS with an introduction to its core and advanced concepts through exciting recipes. You will get acquainted with the use of different synchronous and asynchronous communication methods, including messages, services, and actions. You will learn how to use the various debugging and visualization tools used in development and how to interface sensors and actuators with the ROS framework. Firstly, you will get to grips with ROS simulation frameworks, such as Gazebo and RotorS for modeling and simulating any physical robot and virtual environment. You will also cover mobile robotics, micro-aerial vehicles, and robotic arms, which are the leading branches of robotic applications. Robot Operating System Cookbook will also guide you in the development of an autonomous navigation framework for both mobile robots and micro-aerial vehicles. Finally, you will explore ROS-Industrial, an open source project that extends the advanced capabilities of ROS software to manufacturing industries.
Table of Contents (12 chapters)

Inspecting and diagnosing the ROS system

While the system is running, there are several nodes publishing messages and there are nodes providing actions or services. In the case of a very large system, it becomes important to have tools that can provide information about the running system. However, the ROS provides a set of basic and very powerful tools for system inspection, from the CLI to GUI applications.

Getting ready

In Chapter 2, ROS Architecture and Concepts – I, we discussed listing nodes, topics, services, and parameters. The CLI commands rosnode list, rostopic list, rosservice list, and rosparam list provide the most basic level of introspection. Any of these commands can also be combined with regular bash...