Book Image

ROS Robotics Projects - Second Edition

By : Ramkumar Gandhinathan
Book Image

ROS Robotics Projects - Second Edition

By: Ramkumar Gandhinathan

Overview of this book

Nowadays, heavy industrial robots placed in workcells are being replaced by new age robots called cobots, which don't need workcells. They are used in manufacturing, retail, banks, energy, and healthcare, among other domains. One of the major reasons for this rapid growth in the robotics market is the introduction of an open source robotics framework called the Robot Operating System (ROS). This book covers projects in the latest ROS distribution, ROS Melodic Morenia with Ubuntu Bionic (18.04). Starting with the fundamentals, this updated edition of ROS Robotics Projects introduces you to ROS-2 and helps you understand how it is different from ROS-1. You'll be able to model and build an industrial mobile manipulator in ROS and simulate it in Gazebo 9. You'll then gain insights into handling complex robot applications using state machines and working with multiple robots at a time. This ROS book also introduces you to new and popular hardware such as Nvidia's Jetson Nano, Asus Tinker Board, and Beaglebone Black, and allows you to explore interfacing with ROS. You'll learn as you build interesting ROS projects such as self-driving cars, making use of deep learning, reinforcement learning, and other key AI concepts. By the end of the book, you'll have gained the confidence to build interesting and intricate projects with ROS.
Table of Contents (14 chapters)

A multi-robot use case

Let's try to launch the robot simulation from one PC and control the robots with a teleop on another PC. We shall use the same robot we set up in the Example – multi-robot spawn using groups/namespaces section. Assuming there is no change in the preceding setup, let's run the multi-robot launch on one PC:

  1. In pc1, run the following commands:
$ initros1
$ roslaunch robot_description robotbase_simulation.launch
  1. Then, start the master_discovery node in another Terminal:
$ initros1
$ source devel_isolated/setup.bash
$ rosrun fkie_master_discovery master_discovery _mcast_group:=224.0.0.251
  1. In another Terminal, start the master_sync node to synchronize all of the topics:
$ initros1
$ source devel_isolated/setup.bash
$ rosrun fkie_master_sync master_sync

Now, run the necessary commands in pc2. In pc2, assuming you have started roscore in one Terminal...