Book Image

Mastering ROS for Robotics Programming, Third edition - Third Edition

By : Lentin Joseph, Jonathan Cacace
Book Image

Mastering ROS for Robotics Programming, Third edition - Third Edition

By: Lentin Joseph, Jonathan Cacace

Overview of this book

The Robot Operating System (ROS) is a software framework used for programming complex robots. ROS enables you to develop software for building complex robots without writing code from scratch, saving valuable development time. Mastering ROS for Robotics Programming provides complete coverage of the advanced concepts using easy-to-understand, practical examples and step-by-step explanations of essential concepts that you can apply to your ROS robotics projects. The book begins by helping you get to grips with the basic concepts necessary for programming robots with ROS. You'll then discover how to develop a robot simulation, as well as an actual robot, and understand how to apply high-level capabilities such as navigation and manipulation from scratch. As you advance, you'll learn how to create ROS controllers and plugins and explore ROS's industrial applications and how it interacts with aerial robots. Finally, you'll discover best practices and methods for working with ROS efficiently. By the end of this ROS book, you'll have learned how to create various applications in ROS and build your first ROS robot.
Table of Contents (22 chapters)
1
Section 1 – ROS Programming Essentials
4
Section 2 – ROS Robot Simulation
11
Section 3 – ROS Robot Hardware Prototyping
15
Section 4 – Advanced ROS Programming

Using the RotorS simulation framework

In the previous section, we discussed how to simulate flight controller unit code using Gazebo ROS. However, in some cases, we might be interested in simulating only UAV dynamics with basic sensors (such as IMU, GPS, and so on) and propellers. This is the goal of the RotorS simulator. This simulator provides a set of configuration files and models shaped as ROS packages in order to simulate different types of UAVs. Besides the standard models, RotorS allows developers to configure new multirotor systems from scratch. In short, this ROS package implements both sensors and mechanisms in the form of Gazebo plugins that can be mounted on the multirotor. In this section, we will install RotorS on our ROS. Later, we will create a new multirotor model containing four rotors.

Installing RotorS

Let's start by installing RotorS on our system. To accomplish this step, you should install the following dependencies:

sudo apt-get install ros-noetic...