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

Setting up rviz for the navigation stack

It is good practice to visualize all possible data that the navigation stack does. In this section, we will show you the visualization topic that you must add to rviz to see the correct data sent by the navigation stack. Discussions on each visualization topic that the navigation stack publishes are given next.

The 2D pose estimate

The 2D pose estimate (P shortcut) allows the user to initialize the localization system used by the navigation stack by setting the pose of the robot in the world.

The navigation stack waits for the new pose of a new topic with the name initialpose. This topic is sent using the rviz windows where we previously changed the name of the topic.

You can see in the following screenshot how you can use initialpose. Click on the 2D Pose Estimate button, and click on the map to indicate the initial position of your robot. If you don't do this at the beginning, the robot will start the auto-localization process and try to set an initial...