Book Image

ROS Robotics By Example, Second Edition - Second Edition

By : Carol Fairchild, Lentin Joseph, Dr. Thomas L. Harman
Book Image

ROS Robotics By Example, Second Edition - Second Edition

By: Carol Fairchild, Lentin Joseph, Dr. Thomas L. Harman

Overview of this book

ROS is a robust robotics framework that works regardless of hardware architecture or hardware origin. It standardizes most layers of robotics functionality from device drivers to process control and message passing to software package management. But apart from just plain functionality, ROS is a great platform to learn about robotics itself and to simulate, as well as actually build, your first robots. This does not mean that ROS is a platform for students and other beginners; on the contrary, ROS is used all over the robotics industry to implement flying, walking and diving robots, yet implementation is always straightforward, and never dependent on the hardware itself. ROS Robotics has been the standard introduction to ROS for potential professionals and hobbyists alike since the original edition came out; the second edition adds a gradual introduction to all the goodness available with the Kinetic Kame release. By providing you with step-by-step examples including manipulator arms and flying robots, the authors introduce you to the new features. The book is intensely practical, with space given to theory only when absolutely necessary. By the end of this book, you will have hands-on experience on controlling robots with the best possible framework.
Table of Contents (18 chapters)
ROS Robotics By Example Second Edition
Credits
About the Authors
About the Reviewer
www.PacktPub.com
Customer Feedback
Preface
Index

Setting up to control a real TurtleBot 2


The TurtleBot 2 system consists of the TurtleBot base and its netbook that rides along with the TurtleBot and a separate remote computer that is used to control the robot. The netbook and computer communicate wirelessly once a network connection is established. This section describes the setup of the system, including the network.

A brief overview of the steps to set up and test the TurtleBot is as follows:

  1. Set up the netbook with Ubuntu 16.04 and ROS Kinetic, and then load the TurtleBot software packages.

  2. Set up the remote computer with similar software.

  3. Test the TurtleBot in the standalone mode to assure proper operation.

  4. Create the network of computers, being careful to define the TurtleBot netbook as the ROS Master to the remote computer.

  5. Test the TurtleBot by communicating with commands wirelessly from the remote computer to the netbook of the TurtleBot.

With Ubuntu and the ros-kinetic-desktop-full installed, the packages for the TurtleBot are installed...