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Effective Robotics Programming with ROS - Third Edition

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  • Understand the concepts of ROS, the command-line tools, visualization GUIs, and how to debug ROS
  • Connect robot sensors and actuators to ROS
  • Obtain and analyze data from cameras and 3D sensors
  • Use Gazebo for robot/sensor and environment simulation
  • Design a robot and see how to make it map the environment, navigate autonomously, and manipulate objects in the environment using MoveIt!
  • Add vision capabilities to the robot using OpenCV 3.0
  • Add 3D perception capabilities to the robot using the latest version of PCL

Building and programming a robot can be cumbersome and time-consuming, but not when you have the right collection of tools, libraries, and more importantly expert collaboration. ROS enables collaborative software development and offers an unmatched simulated environment that simplifies the entire robot building process.

This book is packed with hands-on examples that will help you program your robot and give you complete solutions using open source ROS libraries and tools. It also shows you how to use virtual machines and Docker containers to simplify the installation of Ubuntu and the ROS framework, so you can start working in an isolated and control environment without changing your regular computer setup.

It starts with the installation and basic concepts, then continues with more complex modules available in ROS such as sensors and actuators integration (drivers), navigation and mapping (so you can create an autonomous mobile robot), manipulation, Computer Vision, perception in 3D with PCL, and more. By the end of the book, you’ll be able to leverage all the ROS Kinetic features to build a fully fledged robot for all your needs.


  • This comprehensive, yet easy-to-follow guide will help you find your way through the ROS framework
  • Successfully design and simulate your 3D robot model and use powerful robotics algorithms and tools to program and set up your robots with an unparalleled experience by using the exciting new features from Robot Kinetic
  • Use the latest version of gazebo simulator, OpenCV 3.0, and C++11 standard for your own algorithms
Page Count 468
Course Length 14 hours 2 minutes
ISBN 9781786463654
Date Of Publication 27 Dec 2016
Using a joystick or a gamepad
Using Arduino to add sensors and actuators
Using a low-cost IMU – 9 degrees of freedom
Using the IMU – Xsens MTi
Using a GPS system
Using a laser rangefinder – Hokuyo URG-04lx
Creating a launch file
Using the Kinect sensor to view objects in 3D
Using servomotors – Dynamixel


Aaron Martinez Romero

Aaron Martinez Romero has an MSc in Computer Science from the ULPGC with a background in mechatronics, tele-robotics, and tele-presence systems.

He did an internship at the Institute for Robotics at the Johannes Keppler University in Linz where he worked with mobile platforms and embedded systems. He has experience in SolidWorks and CNC machinery and has made prototypes of electromechanical systems.

He is a founding member of SubSeaMechatronics where he works on projects related to heavy duty robotics and R&D. In his free time, he is one of the founding members of LpaFabrika, the Maker Space from Gran Canaria, where future makers learn about Arduino, programming, electronics, and manufacturing.

Anil Mahtani

Anil Mahtani is a computer scientist who has dedicated an important part of his career to underwater robotics. He first started working in the field with his master thesis, where he developed a software architecture for a low-cost ROV. During the development of his thesis, he also became the team leader and lead developer of AVORA, a team of university students that designed and developed an autonomous underwater vehicle for the Students Autonomous Underwater Challenge – Europe (SAUC-E) in 2012. That same year, Anil Mahtani completed his thesis and his MSc in Computer Science at the University of Las Palmas de Gran Canaria and then became a Software Engineer at SeeByte Ltd, a world leader in smart software solutions for underwater systems. In 2015, he joined Dell Secureworks as a Software Engineer, where he applies his knowledge and skills toward developing intrusion detection and prevention systems.

During his time at SeeByte Ltd, Anil Mahtani played a key role in the development of several semi-autonomous and autonomous underwater systems for the military and oil and gas industries. In those projects, he was heavily involved in the development of autonomy systems, the design of distributed software architectures, and low-level software development and also contributed in providing Computer Vision solutions for front-looking sonar imagery. At SeeByte Ltd, he also achieved the position of project manager, managing a team of engineers developing and maintaining the internal core C++ libraries.

His professional interests lie mainly in software engineering, algorithms, data structures, distributed systems, networks, and operating systems. Anil's main role in robotics is to provide efficient and robust software solutions, addressing not only the current problems at hand but also foreseeing future problems or possible enhancements. Given his experience, he is also an asset when dealing with Computer Vision, machine learning, or control problems. Anil has also interests in DIY and electronics, and he has developed several Arduino libraries, which he has contributed back to the community.

Enrique Fernandez Perdomo

Enrique Fernandez Perdomo has a PhD in Computer Engineer from the ULPGC. In his PhD thesis, he investigated path planning algorithms for Autonomous Underwater Gliders, and did an internship at the CIRS/VICOROB research group at the University of Girona.

He also worked with ground robots and is currently a senior Robotics Engineer in the Autonomy Team at Clearpath Robotics since 2015. He was a member of the navigation department at PAL Robotics since 2013. He has good programming skills in C++ and Python, and develops wheeled controllers, a tele-operation infrastructure for both the wheeled and biped robots (REEM and REEM-C), SLAM algorithms, laser and visual localization, and autonomous navigation based on the ROS navigation stack.

Finally, he worked on the project that develop a low-cost mobile base for high payload and retail applications, which is used on the TiaGo robot. Now at Clearpath Robotics, he works on SLAM and localization algorithms and has participated in the OTTO project.

Luis Sánchez

Luis Sánchez has completed his dual master's degree in electronics and telecommunication engineering at the University of Las Palmas de Gran Canaria.

He has collaborated with different research groups as the Institute for Technological Development and Innovation (IDETIC), the Oceanic Platform of Canary Islands (PLOCAN), and the Institute of Applied Microelectronics (IUMA) where he actually researches on imaging super-resolution algorithms.

His professional interests lie in Computer Vision, signal processing, and electronic design applied on robotics systems. For this reason, he joined the AVORA team, a group of young engineers and students working on the development of Underwater Autonomous Vehicles (AUV) from scratch. Inside this project, Luis has started developing acoustic and Computer Vision systems, extracting information from different sensors such as hydrophones, sonar, or camera.

With a strong background gained in marine technology, Luis cofounded Subsea Mechatronics, a young start-up, where he works on developing remotely operated and autonomous vehicles for underwater environments.

Here's what Dario Sosa Cabrera, a marine technologies engineer and entrepreneur (and the cofounder and maker of LPA Fabrika: Gran Canaria Maker Space) has to say about Luis:

"He is very enthusiastic and an engineer in multiple disciplines. He is responsible for his work. He can manage himself and can take up responsibilities as a team leader, as demonstrated at the euRathlon competition. His background in electronics and telecommunications allows him to cover a wide range of expertise from signal processing and software, to electronic design and fabrication."

Luis has participated as a technical reviewer of the previous version of Learning ROS for Robotics Programming and as a cowriter of the second edition.