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)

Simulation of an MAV/drone using RotorS/Gazebo

In this section, we will discuss how to use the RotorS simulator. We will also discuss an overview of the different components of the simulator. Then, we will explain how to use our controllers to get the MAV into hovering mode and perform linear and rotation motion. We will also explain how sensors can be added, and how to use our evaluation scripts for validation of state estimation. In addition, we will learn advanced topics such as how to build a custom model, controller, or sensor plugin.

Getting ready

Before installing the MAV simulator RotorS, the package manager should be used to install the necessary dependencies on Ubuntu 16.04 with ROS Kinetic:

$ sudo sh -c 'echo...