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)

Introduction

In the previous chapter, we learned how to install ROS. Subsequently, in this chapter, we will look into the ROS architecture and concepts along with its components. Furthermore, we will learn how to create and use the ROS components—nodes, packages messages, services, and much more, with examples.

The ROS architecture and design has been divided into three sections or levels of concepts:

  • The ROS filesystem: In this level, a group of concepts is used to explain how ROS is internally formed, the folder structure, and the minimum number of files that it needs to work.
  • The ROS computation graph: In this section, we will see all the concepts and mechanisms which are required to set up the ROS computational network and environment, handle all the processes, and communicate with more than a single computer, and so on.
  • The ROS community: This level is of great...