Mastering ROS for Robotics Programming - Second Edition

Discover the best practices and troubleshooting solutions everyone needs when working on ROS

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Mastering ROS for Robotics Programming - Second Edition

Jonathan Cacace

Discover the best practices and troubleshooting solutions everyone needs when working on ROS

Quick links: > What will you learn?> Table of content

Access cutting-edge content as it's created

Want access to this book right now? Read as we develop it as part of our Early Access program. Click here to find out more about Early Access.

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Book Details

ISBN 139781788478953
Paperback660 pages

Book Description

In today’s era, robotics has been gaining a lot of traction in various industries where consistency and perfection matters most. Automation plays a major role in our world, and most of this is achieved via robotic applications and various platforms that support robotics. The Robot Operating System (ROS) is a modular software platform to develop generic robotic applications. This book focuses on the most stable release of ROS (Kinetic Kame), discusses the advanced concepts in robotics, and shows you how to program using ROS.
This book begins with a deep overview of the ROS framework, which will give you a clear idea of how ROS really works. During the course of the book, you’ll learn how to build models of complex robots, and simulate and interface the robot using the ROS MoveIt! motion planning library and ROS navigation stacks. We’ll also teach you to leverage several ROS packages to embrace your robot models.

After discussing robot manipulation and navigation in robots, you’ll get to grips with the interfacing I/O boards, sensors, and actuators of ROS. One of the essential ingredients of robots are vision sensors, and an entire chapter is dedicated to the vision sensor and image elaboration, its interfacing in ROS, and its programming. You’ll also understand the hardware interfacing and simulation of complex robots to ROS and ROS Industrial (the package used for interfacing industrial robots).

At the end of this book, you’ll discover the best practices to follow when programming using ROS.

Table of Contents

Chapter 1: Introduction to ROS and Its Package Management
Why should we learn ROS?
Why we prefer ROS for robots
Why some do not prefer ROS for robots
Understanding the ROS file system level
Understanding the ROS computation graph level
Understanding ROS community level
Questions
Summary
Chapter 2: Working with 3D Robot Modeling in ROS
ROS packages for robot modeling
Understanding robot modeling using URDF
Creating the ROS package for the robot description
Creating our first URDF model
Explaining the URDF file
Visualizing the robot 3D model in RViz
Adding physical and collision properties to a URDF model
Understanding robot modeling using xacro
Conversion of xacro to URDF
Creating the robot description for a seven DOF robot manipulator
Explaining the xacro model of seven DOF arm
Creating a robot model for the differential drive mobile robot
Questions
Summary
Chapter 3: Simulating Robots Using ROS and Gazebo
Simulating the robotic arm using Gazebo and ROS
The Robotic arm simulation model for Gazebo
Simulating the robotic arm with Xtion Pro
Moving robot joints using ROS controllers in Gazebo
Simulating a differential wheeled robot in Gazebo
Adding the ROS teleop node
Questions
Summary
Chapter 4: Simulating Robots Using ROS and V-REP
Setting up V-REP with ROS
Understanding vrep_plugin
Simulating the robotic arm using V-REP and ROS
Simulating a differential wheeled robot in V-REP
Questions
Summary
Chapter 5: Using the ROS MoveIt! and Navigation Stack
Installing MoveIt!
Generating MoveIt! configuration package using Setup Assistant tool
Motion planning of robot in RViz using MoveIt! configuration package
Understanding ROS Navigation stack
Installing ROS Navigation stack
Building a map using SLAM
Questions
Summary
Chapter 6: Working with Pluginlib, Nodelets, and Gazebo Plugins
Understanding pluginlib
Understanding ROS nodelets
Understanding the Gazebo plugins
Questions
Summary
Chapter 7: Writing ROS Controllers and Visualization Plugins
Understanding ros_control packages
Writing a basic real-time joint controller in ROS
Understanding ros_control packages
Understanding ROS visualization tool (RViz) and its plugins
Writing a RViz plugin for teleoperation
Questions
Summary
Chapter 8: Interfacing I/O Boards, Sensors, and Actuators to ROS
Chapter 9: Programming Vision Sensors using ROS, Open-CV, PCL and AR Marker Tracking
Chapter 10: Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
Chapter 11: Exploring the Advanced Capabilities of ROS-MoveIt!
Chapter 12: Using ROS in Matlab and Simulink
Chapter 13: ROS for Industrial Robots
Chapter 14: Troubleshooting and Best Practices in ROS

What You Will Learn

  • Create a robot model of a Seven-DOF robotic arm and a differential wheeled mobile robot
  • Work with Gazebo and V-REP robotic simulators in ROS.
  • Work with motion planning of a Seven-DOF arm using MoveIt!
  • Implement autonomous navigation in differential drive robots using SLAM and AMCL packages in ROS
  • Dig deep into the ROS Pluginlib, ROS nodelets, and Gazebo plugins
  • Interface I/O boards such as Arduino, robot sensors, and high end actuators with ROS
  • Simulate and motion plan an ABB and Universal arm using ROS Industrial
  • Explore the ROS framework using its latest version

Authors

Table of Contents

Chapter 1: Introduction to ROS and Its Package Management
Why should we learn ROS?
Why we prefer ROS for robots
Why some do not prefer ROS for robots
Understanding the ROS file system level
Understanding the ROS computation graph level
Understanding ROS community level
Questions
Summary
Chapter 2: Working with 3D Robot Modeling in ROS
ROS packages for robot modeling
Understanding robot modeling using URDF
Creating the ROS package for the robot description
Creating our first URDF model
Explaining the URDF file
Visualizing the robot 3D model in RViz
Adding physical and collision properties to a URDF model
Understanding robot modeling using xacro
Conversion of xacro to URDF
Creating the robot description for a seven DOF robot manipulator
Explaining the xacro model of seven DOF arm
Creating a robot model for the differential drive mobile robot
Questions
Summary
Chapter 3: Simulating Robots Using ROS and Gazebo
Simulating the robotic arm using Gazebo and ROS
The Robotic arm simulation model for Gazebo
Simulating the robotic arm with Xtion Pro
Moving robot joints using ROS controllers in Gazebo
Simulating a differential wheeled robot in Gazebo
Adding the ROS teleop node
Questions
Summary
Chapter 4: Simulating Robots Using ROS and V-REP
Setting up V-REP with ROS
Understanding vrep_plugin
Simulating the robotic arm using V-REP and ROS
Simulating a differential wheeled robot in V-REP
Questions
Summary
Chapter 5: Using the ROS MoveIt! and Navigation Stack
Installing MoveIt!
Generating MoveIt! configuration package using Setup Assistant tool
Motion planning of robot in RViz using MoveIt! configuration package
Understanding ROS Navigation stack
Installing ROS Navigation stack
Building a map using SLAM
Questions
Summary
Chapter 6: Working with Pluginlib, Nodelets, and Gazebo Plugins
Understanding pluginlib
Understanding ROS nodelets
Understanding the Gazebo plugins
Questions
Summary
Chapter 7: Writing ROS Controllers and Visualization Plugins
Understanding ros_control packages
Writing a basic real-time joint controller in ROS
Understanding ros_control packages
Understanding ROS visualization tool (RViz) and its plugins
Writing a RViz plugin for teleoperation
Questions
Summary
Chapter 8: Interfacing I/O Boards, Sensors, and Actuators to ROS
Chapter 9: Programming Vision Sensors using ROS, Open-CV, PCL and AR Marker Tracking
Chapter 10: Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
Chapter 11: Exploring the Advanced Capabilities of ROS-MoveIt!
Chapter 12: Using ROS in Matlab and Simulink
Chapter 13: ROS for Industrial Robots
Chapter 14: Troubleshooting and Best Practices in ROS

Book Details

ISBN 139781788478953
Paperback660 pages
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