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

Using the Kinect sensor to view objects in 3D

The Kinect sensor is a flat, black box that sits on a small platform when placed on a table or shelf near the television you're using with your Xbox 360. This device has the following three sensors that we can use for vision and robotics tasks:

  • A color VGA video camera to see the world in color

  • A depth sensor, which is an infrared projector and a monochrome CMOS sensor working together, to see objects in 3D

  • A multiarray microphone that is used to isolate the voices of the players from the noise in the room


In ROS, we are going to use two of these sensors: the RGB camera and the depth sensor. In the latest version of ROS, you can even use three.

Before we start using it, we need to install the packages and drivers. Use the following command lines to install them:

$ sudo apt-get install ros-kinetic-openni-camera ros-kinetickinetic-openni-launch
$ rosstack profile && rospack profile

Once the packages and drivers are installed, plug in the...