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


In this chapter, we have given you an overview of the Computer Vision tools provided by ROS. We started by showing how we can connect and run several types of cameras, particularly FireWire and USB ones. The basic functionality to change their parameters was presented, so now you can adjust certain parameters to obtain images of good quality. Additionally, we provided a complete USB camera driver example.

Then, we showed how you can calibrate the camera. The importance of calibration is the ability to correct the distortion of wide-angle cameras, particularly cheap ones. The calibration matrix also allows you to perform many Computer Vision tasks, such as visual odometry and perception.

We showed how you can work with stereo vision in ROS and how you can set up an easy solution with two inexpensive webcams. We also explained the image pipeline, several APIs that work with Computer Vision in ROS, such as cv_bridge and image_transport, and the integration of OpenCV within ROS packages...