Book Image

ROS Robotics By Example, Second Edition - Second Edition

By : Carol Fairchild, Lentin Joseph, Dr. Thomas L. Harman
Book Image

ROS Robotics By Example, Second Edition - Second Edition

By: Carol Fairchild, Lentin Joseph, Dr. Thomas L. Harman

Overview of this book

ROS is a robust robotics framework that works regardless of hardware architecture or hardware origin. It standardizes most layers of robotics functionality from device drivers to process control and message passing to software package management. But apart from just plain functionality, ROS is a great platform to learn about robotics itself and to simulate, as well as actually build, your first robots. This does not mean that ROS is a platform for students and other beginners; on the contrary, ROS is used all over the robotics industry to implement flying, walking and diving robots, yet implementation is always straightforward, and never dependent on the hardware itself. ROS Robotics has been the standard introduction to ROS for potential professionals and hobbyists alike since the original edition came out; the second edition adds a gradual introduction to all the goodness available with the Kinetic Kame release. By providing you with step-by-step examples including manipulator arms and flying robots, the authors introduce you to the new features. The book is intensely practical, with space given to theory only when absolutely necessary. By the end of this book, you will have hands-on experience on controlling robots with the best possible framework.
Table of Contents (18 chapters)
ROS Robotics By Example Second Edition
Credits
About the Authors
About the Reviewer
www.PacktPub.com
Customer Feedback
Preface
Index

Navigating with TurtleBot


Launch files for TurtleBot will create ROS nodes either remotely on the TurtleBot netbook (via SSH to TurtleBot) or locally on the remote computer. As a general rule, the launch files (and nodes) that handle the GUI and visualization processing should run on the remote computer while the minimal launch and camera drivers should run on the TurtleBot netbook or SBC. Note that we will specify when to SSH to TurtleBot for a ROS command or omit the SSH for using a ROS command on the remote computer.

Mapping a room with TurtleBot 2

TurtleBot can autonomously drive around its environment if a map is made of the environment. The 3D sensor is used to create a 2D map of the room as the TurtleBot is driven around either by a joystick, keyboard, or any other method of teleoperation.

Since we are using the Kobuki base, calibration of the gyro inside the base is not necessary. If you are using the Create base, make sure that you perform the gyro calibration procedure in the TurtleBot...