Book Image

Effective Robotics Programming with ROS - Third Edition

By : Anil Mahtani, Luis Sánchez, Aaron Martinez, Enrique Fernandez Perdomo
Book Image

Effective Robotics Programming with ROS - Third Edition

By: Anil Mahtani, Luis Sánchez, Aaron Martinez, Enrique Fernandez Perdomo

Overview of this book

Building and programming a robot can be cumbersome and time-consuming, but not when you have the right collection of tools, libraries, and more importantly expert collaboration. ROS enables collaborative software development and offers an unmatched simulated environment that simplifies the entire robot building process. This book is packed with hands-on examples that will help you program your robot and give you complete solutions using open source ROS libraries and tools. It also shows you how to use virtual machines and Docker containers to simplify the installation of Ubuntu and the ROS framework, so you can start working in an isolated and control environment without changing your regular computer setup. It starts with the installation and basic concepts, then continues with more complex modules available in ROS such as sensors and actuators integration (drivers), navigation and mapping (so you can create an autonomous mobile robot), manipulation, Computer Vision, perception in 3D with PCL, and more. By the end of the book, you’ll be able to leverage all the ROS Kinetic features to build a fully fledged robot for all your needs.
Table of Contents (18 chapters)
Effective Robotics Programming with ROS Third Edition
About the Authors
About the Reviewer
Customer Feedback

Understanding the Point Cloud Library

Before we dive into the code, it's important to understand the basic concepts of both the Point Cloud Library and the PCL interface for ROS. As mentioned earlier, the former provides a set of data structures and algorithms for 3D data processing, and the latter provides a set of messages and conversion functions between messages and PCL data structures. All these software packages and libraries, in combination with the capabilities of the distributed communication layer provided by ROS, open up possibilities for many new applications in the robotics field.

In general, PCL contains one very important data structure, which is PointCloud. This data structure is designed as a template class that takes the type of point to be used as a template parameter. As a result of this, the point cloud class is not much more than a container of points that includes all of the common information required by all point clouds regardless of their point type. The following...