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Learning ROS for Robotics Programming Second Edition

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Learning ROS for Robotics Programming Second Edition

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Learning ROS for Robotics Programming Second Edition
Aug, 2015 | 458 pages
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Table of Contents (27 chapters)
Learning ROS for Robotics Programming Second Edition
Learning ROS for Robotics Programming Second Edition
Credits
Credits
About the Author
About the Author
Acknowledgments
Acknowledgments
About the Author
About the Author
Acknowledgments
Acknowledgments
About the Author
About the Author
Acknowledgments
Acknowledgments
About the Author
About the Author
Acknowledgments
Acknowledgments
About the Reviewer
About the Reviewer
About the Reviewer
About the Reviewer
Acknowledgments
Acknowledgments
About the Reviewers
About the Reviewers
www.PacktPub.com
www.PacktPub.com
Preface
Preface
Free Chapter
1
Getting Started with ROS Hydro
Getting Started with ROS Hydro
PC installation
Installing ROS Hydro – using repositories
How to install VirtualBox and Ubuntu
Installing ROS Hydro in BeagleBone Black (BBB)
Summary
2
ROS Architecture and Concepts
ROS Architecture and Concepts
Understanding the ROS Filesystem level
Understanding the ROS Computation Graph level
Understanding the ROS Community level
Tutorials to practice with ROS
Summary
3
Visualization and Debug Tools
Visualization and Debug Tools
Debugging ROS nodes
Logging messages
Inspecting what is going on
Setting dynamic parameters
When something weird happens
Visualizing node diagnostics
Plotting scalar data
Image visualization
3D visualization
Saving and playing back data
Using the rqt_gui and rqt plugins
Summary
4
Using Sensors and Actuators with ROS
Using Sensors and Actuators with ROS
Using a joystick or a gamepad
Using a laser rangefinder – Hokuyo URG-04lx
Using the Kinect sensor to view objects in 3D
Using servomotors – Dynamixel
Using Arduino to add more sensors and actuators
Using an ultrasound range sensor with Arduino
How distance sensors send messages
Using a low-cost IMU – 10 degrees of freedom
Using a GPS system
Summary
5
Computer Vision
Computer Vision
Connecting and running the camera
Writing your own USB camera driver with OpenCV
Calibrating the camera
The ROS image pipeline
ROS packages useful for Computer Vision tasks
Using visual odometry with viso2
Performing visual odometry with an RGBD camera
Computing the homography of two images
Summary
6
Point Clouds
Point Clouds
Understanding the point cloud library
My first PCL program
Segmentation
Summary
7
3D Modeling and Simulation
3D Modeling and Simulation
A 3D model of our robot in ROS
Creating our first URDF file
Xacro – a better way to write our robot models
Simulation in ROS
Summary
8
The Navigation Stack – Robot Setups
The Navigation Stack – Robot Setups
The navigation stack in ROS
Creating transforms
Publishing sensor information
Publishing odometry information
Creating a base controller
Creating a map with ROS
Summary
9
The Navigation Stack – Beyond Setups
The Navigation Stack – Beyond Setups
Creating a package
Creating a robot configuration
Configuring the costmaps – global_costmap and local_costmap
Creating a launch file for the navigation stack
Setting up rviz for the navigation stack
Adaptive Monte Carlo Localization
Modifying parameters with rqt_reconfigure
Avoiding obstacles
Sending goals
Summary
10
Manipulation with MoveIt!
Manipulation with MoveIt!
The MoveIt! architecture
Integrating an arm in MoveIt!
Simple motion planning
Motion planning with collisions
The pick and place task
Summary
Index
Index

Credits

Authors

Enrique Fernández

Luis Sánchez Crespo

Anil Mahtani

Aaron Martinez

Reviewers

Piotr Gródek

Akihiko HONDA

Matthieu Keller

Aridane J. Sarrionandia de León

Commissioning Editor

Usha Iyer

Acquisition Editor

Richard Brookes-Bland

Content Development Editor

Adrian Raposo

Technical Editor

Parag Topre

Copy Editors

Sarang Chari

Sonia Mathur

Project Coordinator

Sanchita Mandal

Proofreader

Safis Editing

Indexer

Mariammal Chettiyar

Graphics

Sheetal Aute

Jason Monteiro

Abhinash Sahu

Production Coordinator

Arvindkumar Gupta

Cover Work

Arvindkumar Gupta

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