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

Avoiding obstacles

A great functionality of the navigation stack is the recalculation of the path if it finds obstacles during the movement. You can easily see this feature by adding an object in front of the robot in Gazebo. For example, in our simulation we added a big box in the middle of the path. The navigation stack detects the new obstacle, and automatically creates an alternative path.

In the next image, you can see the object that we added. Gazebo has some predefined 3D objects that you can use in the simulations with mobile robots, arms, humanoids, and so on.

To see the list, go to the Insert model section. Select one of the objects and then click at the location where you want to put it, as shown in the following screenshot:

If you go to the rviz windows now, you will see a new global plan to avoid the obstacle. This feature is very interesting when you use the robot in real environments with people walking around the robot. If the robot detects a possible collision, it will change...