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

Chapter 3. Visualization and Debugging Tools

ROS has a good number of tools which allow the user and the developer to visualize and debug their code in order to detect and solve issues with both hardware and software. This comprises a message logging system similar to log4cxx, diagnostic messages, and also visualization and inspection tools, which provide a comprehensive list of the running nodes as well as how are they interconnected.

In this chapter, we will also show you how to debug an ROS node with the GDB debugger. The message logging API will be explained, and advice will be given on how to choose the logging level. Then, we will explain the set of ROS tools that allows us to inspect which processes are running and what information is communicated between them. For instance, the following figure shows a tool that visualizes the graph of the system, where the nodes are the processes running and the edges represent the data workflow through communication topics. This tool is rqt_graph...