Book Image

Robot Operating System Cookbook

By : Kumar Bipin
Book Image

Robot Operating System Cookbook

By: Kumar Bipin

Overview of this book

This book will leverage the power of ROS with an introduction to its core and advanced concepts through exciting recipes. You will get acquainted with the use of different synchronous and asynchronous communication methods, including messages, services, and actions. You will learn how to use the various debugging and visualization tools used in development and how to interface sensors and actuators with the ROS framework. Firstly, you will get to grips with ROS simulation frameworks, such as Gazebo and RotorS for modeling and simulating any physical robot and virtual environment. You will also cover mobile robotics, micro-aerial vehicles, and robotic arms, which are the leading branches of robotic applications. Robot Operating System Cookbook will also guide you in the development of an autonomous navigation framework for both mobile robots and micro-aerial vehicles. Finally, you will explore ROS-Industrial, an open source project that extends the advanced capabilities of ROS software to manufacturing industries.
Table of Contents (12 chapters)

Robot localization – Adaptive Monte Carlo Localization (AMCL)

We are using the AMCL algorithm for robot localization in the given map. The AMCL algorithm is a probabilistic localization technique that uses a particle filter to track the pose of a robot in a known map. It has many configuration options that will affect the performance of localization. We can refer to the AMCL documentation at http://wiki.ros.org/amcl and http://www.probabilistic-robotics.org/.

Getting ready

Although the amcl algorithm works mostly with laser scans and laser maps, it can be extended to work with other sensor data, such as stereo vision and lidar, which produce point cloud data. During startup, the amcl node initializes its particle filter...