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


After reading and running the code of this chapter, you will have learned how to use many tools that will help you to develop robotic systems faster, debug errors, and visualize your results, so as to evaluate their quality or validate them. Some of the specific concepts and tools you will require in your life as a robotics developer have been summarized here.

Now you know how to include logging messages in your code with different levels of verbosity, which will help you to debug errors in your nodes. For this purpose, you can also use the powerful tools included in ROS, such as the rqt_console interface. Additionally, you can inspect or list the nodes running, topics published, and services provided in the whole system. This includes the inspection of the node graph using rqt_graph.

Regarding the visualization tools, you should now be able to plot scalar data using rqt_plot for a more intuitive analysis of certain variables published by your nodes. Similarly, you can view more complex...