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.

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Table of Contents (12 chapters)
Preface
Preface
Who this book is for
What this book covers
To get the most out of this book
Get in touch
Free Chapter
1
Getting Started with ROS
Getting Started with ROS
Introduction
Installing ROS on desktop systems
Installing ROS on a virtual machine
Using ROS from a Linux container
Installing ROS on an ARM-based board
Installing the ROS packages
2
ROS Architecture and Concepts I
ROS Architecture and Concepts I
Introduction
Exploring the ROS filesystem
Analyzing the ROS computation graph
Associating with the ROS community
Learning working with ROS
3
ROS Architecture and Concepts – II
ROS Architecture and Concepts – II
Introduction
Understanding the parameter server and dynamic parameters
Understanding the ROS actionlib
Understanding the ROS pluginlib
Understanding the ROS nodelets
Understanding the Gazebo Framework and plugin
Understanding the ROS transform frame (TF)
Understanding the ROS Visualization tool (RViz) and its plugins
4
ROS Visualization and Debugging Tools
ROS Visualization and Debugging Tools
Introduction
Debugging and profiling ROS nodes
Logging and visualizing ROS messages
Inspecting and diagnosing the ROS system
Visualizing and plotting scalar data
Visualizing non-scalar data – 2D/3D images
Recording and playing back ROS topics
5
Accessing Sensors and Actuators through ROS
Accessing Sensors and Actuators through ROS
Introduction
Understanding the Arduino-ROS interface
Interfacing 9DoF Razor IMU-Arduino-ROS
Using a GPS system – Ublox
Interfacing servomotors – Dynamixel
Using a Laser Rangefinder – Hokuyo
Working with the Kinect sensor to view objects in 3D
Using a joystick or a gamepad in ROS
6
ROS Modeling and Simulation
ROS Modeling and Simulation
Introduction
Understanding robot modeling using URDF
Understanding robot modeling using xacro
Understanding the joint state publisher and the robot state publisher
Understanding the Gazebo architecture and interface with ROS
7
Mobile Robot in ROS
Mobile Robot in ROS
Introduction
The navigation stack in ROS
Interfacing the mobile robot to the navigation stack
Creating a launch file for the navigation stack
Setting up RViz for the navigation stack – visualization
Robot localization – Adaptive Monte Carlo Localization (AMCL)
Configuring navigation stack parameters with rqt_reconfigure
Autonomous navigation of mobile robots – avoiding obstacles
Sending goals
8
The Robotic Arm in ROS
The Robotic Arm in ROS
Introduction
Basic concepts of MoveIt!
Motion planning using graphical interfaces
Performing motion planning using control programs
Adding perception to motion planning
Grasping action with the robotic arm or manipulator
9
Micro Aerial Vehicles in ROS
Micro Aerial Vehicles in ROS
Introduction
Overview of MAV system design
A generic mathematical model of an MAV/drone
Simulation of an MAV/drone using RotorS/Gazebo
Autonomous navigation framework for an MAV/Drone
Working with a real MAV/drone – Parrot, Bebop
10
ROS-Industrial (ROS-I)
ROS-Industrial (ROS-I)
Introduction
Understanding ROS-I packages
3D modeling and simulation of an industrial robot and MoveIt!
Working with ROS-I packages – Universal Robots, ABB robot
ROS-I Robot support packages
ROS-I Robot client package
ROS-I robot driver specification
Developing a custom MoveIt! IKFast plugin
ROS-I-MTConnect integration
Future of ROS-I – hardware support, capabilities, and applications
11
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Visualizing and plotting scalar data

ROS already has generic tools to plot scalar data. These tools can also be used for plotting non-scalar data, but each scalar field needs to be plotted separately in order to show less information. Alternately, ROS has powerful visualization tools for non-scalar or vector data, which we will discuss in the next section.

Getting ready

In this section, we will learn that scalar data can be plotted as a time series, where time is provided by the timestamps of the messages. We can use the y axis to plot scalar data versus timestamps along the x axis. ROS has a GUI tool called rqt_plot, which will do this for us.

To see rqt_plot in action, we will use the program4 node which publishes scalar...

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