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)

Using a GPS system – Ublox

Global Positioning System (GPS) is a satellite navigation system that provides location and time information in all climate conditions. The GPS can be used for navigation in planes, ships, and cars. The system gives critical abilities to the military and civilians and provides continuous real-time, three-dimensional positioning, navigation, and timing worldwide.

We can find significant differences in performance and precision, depending on the GPS receiver quality. We can have a GPS receiver that is low cost, which has errors in the range of a few meters (5 m -10 m) and is commonly used in various applications requiring less precision, such as map routing. In other cases, we can have expensive GPS devices, configured as differential GPS (DGPS). This DGPS can achieve great results in terms of precision, with location errors less than 10 cm, and...