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)

Introduction

In the previous chapters, we discussed the visualization and debugging tools that are used in ROS during development. In this chapter, we will learn about interfacing hardware components, such as sensors and actuators, to the ROS framework. First, we will look at interfacing sensors using I/O boards, such as Arduino, and interfacing the 9DoF Razor IMU. Similarly, we will also discuss interfacing actuators, Dynamixel, the laser rangefinder – Hokuyo, a GPS system – Ublox, and the RGB-D – Kinect Sensor for viewing objects in 3D.

Since it is impossible to explain all the types of available sensors and actuators in one chapter, we have selected some of the most commonly used sensors and actuators found in robotics laboratories to start learning. These sensors and actuators can be organized into different categories: rangefinders, perception, pose estimation...