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

Tutorials to practise with ROS

It is time for you to practise what you have learned until now. In upcoming sections, you will see examples for you to practise along with the creation of packages, using nodes, using Parameter Server, and moving a simulated robot with Turtlesim.

Navigating through the ROS filesystem

As explained before, ROS provides a number of command-line tools for navigating through the filesystem. In this subsection, we will explain the most used ones, with examples.

To get information about the packages and stacks in our environment, such as their paths, dependencies, and so on, we can use rospack and rosstack. On the other hand, to move through packages and stacks, as well as listing their contents, we will use roscd and rosls.

For example, if you want to find the path of the turtlesim package, you can use the following command:

$ rospack find turtlesim

Which will then result in the following output:


The same thing happens with the metapackages...