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

About the Authors

Anil Mahtani is a computer scientist who has dedicated an important part of his career to underwater robotics. He first started working in the field with his master thesis, where he developed a software architecture for a low-cost ROV. During the development of his thesis, he also became the team leader and lead developer of AVORA, a team of university students that designed and developed an autonomous underwater vehicle for the Students Autonomous Underwater Challenge – Europe (SAUC-E) in 2012. That same year, Anil Mahtani completed his thesis and his MSc in Computer Science at the University of Las Palmas de Gran Canaria and then became a Software Engineer at SeeByte Ltd, a world leader in smart software solutions for underwater systems. In 2015, he joined Dell Secureworks as a Software Engineer, where he applies his knowledge and skills toward developing intrusion detection and prevention systems.

During his time at SeeByte Ltd, Anil Mahtani played a key role in the development of several semi-autonomous and autonomous underwater systems for the military and oil and gas industries. In those projects, he was heavily involved in the development of autonomy systems, the design of distributed software architectures, and low-level software development and also contributed in providing Computer Vision solutions for front-looking sonar imagery. At SeeByte Ltd, he also achieved the position of project manager, managing a team of engineers developing and maintaining the internal core C++ libraries.

His professional interests lie mainly in software engineering, algorithms, data structures, distributed systems, networks, and operating systems. Anil's main role in robotics is to provide efficient and robust software solutions, addressing not only the current problems at hand but also foreseeing future problems or possible enhancements. Given his experience, he is also an asset when dealing with Computer Vision, machine learning, or control problems. Anil has also interests in DIY and electronics, and he has developed several Arduino libraries, which he has contributed back to the community.

Luis Sánchez has completed his dual master's degree in electronics and telecommunication engineering at the University of Las Palmas de Gran Canaria.

He has collaborated with different research groups as the Institute for Technological Development and Innovation (IDETIC), the Oceanic Platform of Canary Islands (PLOCAN), and the Institute of Applied Microelectronics (IUMA) where he actually researches on imaging super-resolution algorithms.

His professional interests lie in Computer Vision, signal processing, and electronic design applied on robotics systems. For this reason, he joined the AVORA team, a group of young engineers and students working on the development of Underwater Autonomous Vehicles (AUV) from scratch. Inside this project, Luis has started developing acoustic and Computer Vision systems, extracting information from different sensors such as hydrophones, sonar, or camera.

With a strong background gained in marine technology, Luis cofounded Subsea Mechatronics, a young start-up, where he works on developing remotely operated and autonomous vehicles for underwater environments.

Here's what Dario Sosa Cabrera, a marine technologies engineer and entrepreneur (and the cofounder and maker of LPA Fabrika: Gran Canaria Maker Space) has to say about Luis:

"He is very enthusiastic and an engineer in multiple disciplines. He is responsible for his work. He can manage himself and can take up responsibilities as a team leader, as demonstrated at the euRathlon competition. His background in electronics and telecommunications allows him to cover a wide range of expertise from signal processing and software, to electronic design and fabrication."

Luis has participated as a technical reviewer of the previous version of Learning ROS for Robotics Programming and as a cowriter of the second edition.

Enrique Fernández has a PhD in computer engineering and an extensive background in robotics. His PhD thesis addressed the problem of Path Planning for Autonomous Underwater Gliders, but he also worked on other robotics projects, including SLAM, perception, vision, and control. During his doctorate, he joined the Center of Underwater Robotics Research in the University of Girona, where he developed Visual SLAM and INS modules in ROS for Autonomous Underwater Vehicles (AUVs), and participated in the Student Autonomous Underwater Challenge, Europe (SAUC-E) in 2012, and collaborated in the 2013 edition; in 2012, he was awarded a prize.

During his PhD, Enrique published several conference papers and publications to top robotics conferences, such as the International Conference of Robotics and Automation (ICRA). He has also authored some book chapters and ROS books.

Later, Enrique joined PAL Robotics as a SLAM engineer in June 2013. There he worked with the REEM and REEM-C humanoid robots using ROS software and also contributed to the open source community, mainly to ROS Control repository, being one of the maintainers nowadays. In 2015, he joined Clearpath Robotics to work on the Autonomy team, developing perception algorithms. He has worked on the software that runs on the industrial mobile robots OTTO 1500 and OTTO 100, which has been deployed into the facilities of multiple large industry companies, such as General Electric and John Deere.

Aaron Martinez is a computer engineer, entrepreneur, and expert in digital fabrication. He did his master's thesis in 2010 at the IUCTC (Instituto Universitario de Ciencias y Tecnologias Ciberneticas) in the University of Las Palmas de Gran Canaria. He prepared his master's thesis in the field of telepresence using immersive devices and robotic platforms. After completing his academic career, he attended an internship program at The Institute for Robotics in the Johannes Kepler University in Linz, Austria. During his internship program, he worked as part of a development team of a mobile platform using ROS and the navigation stack. After that, he was involved in some projects related to robotics; one of them is the AVORA project in the University of Las Palmas de Gran Canaria. In this project, he worked on the creation of an AUV to participate in the Student Autonomous Underwater Challenge-Europe (SAUC-E) in Italy. In 2012, he was responsible for manufacturing this project; in 2013, he helped to adapt the navigation stack and other algorithms from ROS to the robotic platform.

Recently, Aaron created his own company named SubSeaMechatronics, SL. This company works with projects related with underwater robotics and telecontrol systems. They are also designing and manufacturing subsea sensors. The company manufactures devices for other companies and research and development institutes.

Aaron has experience in many fields, such as programming, robotics, mechatronics, and digital fabrication as well as many devices, such as Arduino, BeagleBone, Servers, and LIDAR, and nowadays he is designing in SubSeaMechatronics SL some robotics platforms for underwater and aerial environments.