Learning ROS for Robotics Programming - Second Edition
If you have ever tried building a robot, then you know how cumbersome programming everything from scratch can be. This is where ROS comes into the picture. It is a collection of tools, libraries, and conventions that simplifies the robot building process. What’s more, ROS encourages collaborative robotics software development, allowing you to connect with experts in various fields to collaborate and build upon each other's work.
Packed full of examples, this book will help you understand the ROS framework to help you build your own robot applications in a simulated environment and share your knowledge with the large community supporting ROS.
Starting at an introductory level, this book is a comprehensive guide to the fascinating world of robotics, covering sensor integration, modeling, simulation, computer vision, navigation algorithms, and more. You will then go on to explore concepts like topics, messages, and nodes. Next, you will learn how to make your robot see with HD cameras, or navigate obstacles with range sensors. Furthermore, thanks to the contributions of the vast ROS community, your robot will be able to navigate autonomously, and even recognize and interact with you in a matter of minutes.
What’s new in this updated edition? First and foremost, we are going to work with ROS Hydro this time around. You will learn how to create, visualize, and process Point Cloud information from different sensors. This edition will also show you how to control and plan motion of robotic arms with multiple joints using MoveIt!
By the end of this book, you will have all the background you need to build your own robot and get started with ROS.
|Course Length||13 hours 44 minutes|
|Date Of Publication||17 Aug 2015|
|Using a joystick or a gamepad|
|Using a laser rangefinder – Hokuyo URG-04lx|
|Using the Kinect sensor to view objects in 3D|
|Using servomotors – Dynamixel|
|Using Arduino to add more sensors and actuators|
|Using an ultrasound range sensor with Arduino|
|How distance sensors send messages|
|Using a low-cost IMU – 10 degrees of freedom|
|Using a GPS system|
|Creating a package|
|Creating a robot configuration|
|Configuring the costmaps – global_costmap and local_costmap|
|Creating a launch file for the navigation stack|
|Setting up rviz for the navigation stack|
|Adaptive Monte Carlo Localization|
|Modifying parameters with rqt_reconfigure|