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 this chapter, we will learn about a modular micro aerial vehicle (MAV) simulator framework, which enables us to quick start performing research and development on MAVs. After completing this chapter, we will have a ready-to-use MAV simulator, including control and state estimation. The simulator will be designed in a modular way, where different controllers and state estimators can be implied interchangeably to incorporate any new MAVs in a few steps by only changing a parameter file. Moreover, we will also compare different controllers and state estimators with the provided evaluation framework.

The simulator framework is a good starting point for handling higher-level tasks such as collision avoidance and path planning with Simultaneous Localization and Mapping (SLAM). We will discuss the design of all components, which will be analogous to their real world counterparts...