ROS Robotics By Example

ROS Robotics By Example

Overview of this book

The visionaries who created ROS developed a framework for robotics centered on the commonality of robotic systems and exploited this commonality in ROS to expedite the development of future robotic systems. From the fundamental concepts to advanced practical experience, this book will provide you with an incremental knowledge of the ROS framework, the backbone of the robotics evolution. ROS standardizes many layers of robotics functionality from low-level device drivers to process control to message passing to software package management. This book provides step-by-step examples of mobile, armed, and flying robots, describing the ROS implementation as the basic model for other robots of these types. By controlling these robots, whether in simulation or in reality, you will use ROS to drive, move, and fly robots using ROS control.

ROS Robotics By Example

Credits

About the Authors

About the Reviewer

www.PacktPub.com

Preface

Free Chapter

Getting Started with ROS

What does ROS do and what are the benefits of learning ROS?

Which robots are using ROS?

Installing and launching ROS

Creating a catkin workspace

ROS packages and manifest

ROS nodes and ROS Master

Turtlesim, the first ROS robot simulation

ROS commands summary

Summary

Creating Your First Two-Wheeled ROS Robot (in Simulation)

Rviz

Creating and building a ROS package

Building a differential drive robot URDF

Gazebo

Summary

Driving Around with TurtleBot

Introducing TurtleBot

Loading TurtleBot simulator software

Launching TurtleBot simulator in Gazebo

Setting up to control a real TurtleBot

Networking the netbook and remote computer

TurtleBot hardware specifications

Move the real TurtleBot

Introducing rqt tools

TurtleBot's odometry

TurtleBot automatic docking

Summary

Navigating the World with TurtleBot

3D vision systems for TurtleBot

Configuring TurtleBot and installing the 3D sensor software

Testing the 3D sensor in standalone mode

Running ROS nodes for visualization

Navigating with TurtleBot

Summary

Creating Your First Robot Arm (in Simulation)

Features of Xacro

Building an articulated robot arm URDF using Xacro

Controlling an articulated robot arm in Gazebo

Summary

Wobbling Robot Arms Using Joint Control

Introducing Baxter

Baxter's arms

Loading the Baxter software

Launching Baxter Simulator in Gazebo

Baxter's arms and forward kinematics

Introducing MoveIt

Configuring a real Baxter setup

Controlling a real Baxter

Inverse kinematics

Summary

Making a Robot Fly

Introducing quadrotors

Understanding quadrotor sensors

Preparing to fly your quadrotor

Using ROS with UAVs

Introducing Hector Quadrotor

Introducing Crazyflie 2.0

Introducing Bebop

Summary

Controlling Your Robots with External Devices

Creating a custom ROS game controller interface

Creating a custom ROS Android device interface

Creating ROS nodes on Arduino or Raspberry Pi

Summary

Flying a Mission with Crazyflie

Mission components

Loading software for the mission

Setting up the mission

How to control Crazyflie

Flying Crazyflie

Summary

Extending Your ROS Abilities

Controlling a robot with your voice

Enabling a robot to speak

Enabling a robot to recognize faces

Summary

Index

Customer Reviews

5 star

4 star

3 star

2 star

1 star

Enabling a robot to speak

With the ability to speak, your robot can take on a personality of its own. There are multiple styles of voices available for your robot, and its ability to carry on a conversation is only limited by your imagination.

The two current methods of providing the capability for your robot to speak are analogous to the speech recognition abilities mentioned in the previous section. The ROS package sound_play (from the audio-common metapackage) offers one method and the Rospeex software provides another.

The ROS package sound_play supports playing built-in sound files, OGG and WAV files, and processing speech synthesis data produced via Festival. Festival is a text-to-speech (TTS) ability developed by the University of Edinburgh. Multiple languages are supported through this project and the companion Festvox project at CMU. More information on these speech synthesis projects can be found at:

ROS Robotics By Example

ROS Robotics By Example

Overview of this book

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ROS Robotics By Example

Enabling a robot to speak