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

Summary

In this chapter, we discussed creating plugins for RViz and writing basic ROS controllers. We have already worked with default controllers in ROS, and in this chapter, we developed a custom controller for moving joints. After building and testing the controller, we looked at RViz plugins. We created a new RViz panel for teleoperation. We can manually enter the topic name and linear and angular velocity in the panel. This panel is useful for controlling robots without starting another teleoperation node.

In the next chapter, we will discuss using ROS with MATLAB. MATLAB is a powerful numeric computing environment developed by MathWorks. The next chapter discusses how to interface this tool with ROS to create robot applications.

Here are some questions based on what we covered in this chapter.