Book Image

ROS Robotics Projects - Second Edition

By : Ramkumar Gandhinathan
Book Image

ROS Robotics Projects - Second Edition

By: Ramkumar Gandhinathan

Overview of this book

Nowadays, heavy industrial robots placed in workcells are being replaced by new age robots called cobots, which don't need workcells. They are used in manufacturing, retail, banks, energy, and healthcare, among other domains. One of the major reasons for this rapid growth in the robotics market is the introduction of an open source robotics framework called the Robot Operating System (ROS). This book covers projects in the latest ROS distribution, ROS Melodic Morenia with Ubuntu Bionic (18.04). Starting with the fundamentals, this updated edition of ROS Robotics Projects introduces you to ROS-2 and helps you understand how it is different from ROS-1. You'll be able to model and build an industrial mobile manipulator in ROS and simulate it in Gazebo 9. You'll then gain insights into handling complex robot applications using state machines and working with multiple robots at a time. This ROS book also introduces you to new and popular hardware such as Nvidia's Jetson Nano, Asus Tinker Board, and Beaglebone Black, and allows you to explore interfacing with ROS. You'll learn as you build interesting ROS projects such as self-driving cars, making use of deep learning, reinforcement learning, and other key AI concepts. By the end of the book, you'll have gained the confidence to build interesting and intricate projects with ROS.
Table of Contents (14 chapters)

Writing ROS-2 nodes

Writing nodes in ROS-2 is comparatively different from ROS-1 due to the introduction of the additional software layers we saw in the Fundamentals of ROS-2 section. However, OSRF has ensured there isn't a huge difference while writing the ROS-2 code in order to save time and effort. In this section, we'll compare ROS-1 code and ROS-2 code and find out the differences in their usage.

Note that this is just an example section and if you want to write a ROS-2-specific package for your project, I would recommend that you go through the ROS-2 tutorials page (https://index.ros.org/doc/ros2/Tutorials/), which contains the necessary information.

ROS-1 example code

Let's consider the traditional publish...