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Mastering ROS for Robotics Programming, Third edition - Third Edition

You're reading from  Mastering ROS for Robotics Programming, Third edition - Third Edition

Product type Book
Published in Oct 2021
Publisher Packt
ISBN-13 9781801071024
Pages 594 pages
Edition 3rd Edition
Languages
Concepts
Authors (2):
Lentin Joseph Lentin Joseph
Profile icon Lentin Joseph
LinkedIn
Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
See other products by Lentin Joseph
Jonathan Cacace Jonathan Cacace
Profile icon Jonathan Cacace
LinkedIn
Jonathan Cacace was born in Naples, Italy, on December 13, 1987. He received his Master's degree in computer science, and a Ph.D. degree in Information and Automation Engineering, from the University of Naples Federico II. Currently, he is an Assistant Professor at the University of Naples Federico II. He is also a member of PRISMA Lab where he is involved in different research projects focused on industrial and service robotics in which he has developed several ROS-based applications integrating robot perception and control.
See other products by Jonathan Cacace
View More author details

Table of Contents (22) Chapters

Preface 1. Section 1 – ROS Programming Essentials
2. Chapter 1: Introduction to ROS 3. Chapter 2: Getting Started with ROS Programming 4. Section 2 – ROS Robot Simulation
5. Chapter 3: Working with ROS for 3D Modeling 6. Chapter 4: Simulating Robots Using ROS and Gazebo 7. Chapter 5: Simulating Robots Using ROS, CoppeliaSim, and Webots 8. Chapter 6: Using the ROS MoveIt! and Navigation Stack 9. Chapter 7: Exploring the Advanced Capabilities of ROS MoveIt! 10. Chapter 8: ROS for Aerial Robots 11. Section 3 – ROS Robot Hardware Prototyping
12. Chapter 9: Interfacing I/O Board Sensors and Actuators to ROS 13. Chapter 10: Programming Vision Sensors Using ROS, OpenCV, and PCL 14. Chapter 11: Building and Interfacing Differential Drive Mobile Robot Hardware in ROS 15. Section 4 – Advanced ROS Programming
16. Chapter 12: Working with pluginlib, nodelets, and Gazebo Plugins 17. Chapter 13: Writing ROS Controllers and Visualization Plugins 18. Chapter 14: Using ROS in MATLAB and Simulink 19. Chapter 15: ROS for Industrial Robots 20. Chapter 16: Troubleshooting and Best Practices in ROS 21. Other Books You May Enjoy

Creating a robot model for the differential drive mobile robot

A differential wheeled robot will have two wheels connected to opposite sides of the robot chassis, which is supported by one or two caster wheels. The wheels will control the speed of the robot by regulating the velocity of the single wheels. If the two motors are running at the same speed, the wheels will move forward or backward. If one wheel is running slower than the other, the robot will turn to the side of the lower speed. If we want to turn the robot to the left side, we reduce the velocity of the left wheel and vice versa.

There are two supporting wheels, called caster wheels, that will support the robot and rotate freely based on the movement of the main wheels.

The URDF model of this robot is present in the cloned ROS package. The final robot model is shown here:

Figure 3.12 – The differential drive mobile robot

The preceding robot has five joints and links. The two main...

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Authors (2)

Left arrow icon
Profile icon Lentin Joseph
LinkedIn
Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
See other products by Lentin Joseph
Profile icon Jonathan Cacace
LinkedIn
Jonathan Cacace was born in Naples, Italy, on December 13, 1987. He received his Master's degree in computer science, and a Ph.D. degree in Information and Automation Engineering, from the University of Naples Federico II. Currently, he is an Assistant Professor at the University of Naples Federico II. He is also a member of PRISMA Lab where he is involved in different research projects focused on industrial and service robotics in which he has developed several ROS-based applications integrating robot perception and control.
See other products by Jonathan Cacace
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