ROS Robotics By Example

Bring life to your robot using ROS robotic applications

ROS Robotics By Example

By Example
Carol Fairchild, Dr. Thomas L. Harman

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Bring life to your robot using ROS robotic applications
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Book Details

ISBN 139781782175193
Paperback428 pages

Book Description

The visionaries who created ROS developed a framework for robotics centered on the commonality of robotic systems and exploited this commonality in ROS to expedite the development of future robotic systems.

From the fundamental concepts to advanced practical experience, this book will provide you with an incremental knowledge of the ROS framework, the backbone of the robotics evolution. ROS standardizes many layers of robotics functionality from low-level device drivers to process control to message passing to software package management. This book provides step-by-step examples of mobile, armed, and flying robots, describing the ROS implementation as the basic model for other robots of these types. By controlling these robots, whether in simulation or in reality, you will use ROS to drive, move, and fly robots using ROS control.

Table of Contents

Chapter 1: Getting Started with ROS
What does ROS do and what are the benefits of learning ROS?
Which robots are using ROS?
Installing and launching ROS
Creating a catkin workspace
ROS packages and manifest
ROS nodes and ROS Master
Turtlesim, the first ROS robot simulation
ROS commands summary
Summary
Chapter 2: Creating Your First Two-Wheeled ROS Robot (in Simulation)
Rviz
Creating and building a ROS package
Building a differential drive robot URDF
Gazebo
Summary
Chapter 3: Driving Around with TurtleBot
Introducing TurtleBot
Loading TurtleBot simulator software
Launching TurtleBot simulator in Gazebo
Setting up to control a real TurtleBot
Networking the netbook and remote computer
TurtleBot hardware specifications
Move the real TurtleBot
Introducing rqt tools
TurtleBot's odometry
TurtleBot automatic docking
Summary
Chapter 4: Navigating the World with TurtleBot
3D vision systems for TurtleBot
Configuring TurtleBot and installing the 3D sensor software
Testing the 3D sensor in standalone mode
Running ROS nodes for visualization
Navigating with TurtleBot
Summary
Chapter 5: Creating Your First Robot Arm (in Simulation)
Features of Xacro
Building an articulated robot arm URDF using Xacro
Controlling an articulated robot arm in Gazebo
Summary
Chapter 6: Wobbling Robot Arms Using Joint Control
Introducing Baxter
Baxter's arms
Loading the Baxter software
Launching Baxter Simulator in Gazebo
Baxter's arms and forward kinematics
Introducing MoveIt
Configuring a real Baxter setup
Controlling a real Baxter
Inverse kinematics
Summary
Chapter 7: Making a Robot Fly
Introducing quadrotors
Understanding quadrotor sensors
Preparing to fly your quadrotor
Using ROS with UAVs
Introducing Hector Quadrotor
Introducing Crazyflie 2.0
Introducing Bebop
Summary
Chapter 8: Controlling Your Robots with External Devices
Creating a custom ROS game controller interface
Creating a custom ROS Android device interface
Creating ROS nodes on Arduino or Raspberry Pi
Summary
Chapter 9: Flying a Mission with Crazyflie
Mission components
Loading software for the mission
Setting up the mission
How to control Crazyflie
Flying Crazyflie
Summary
Chapter 10: Extending Your ROS Abilities
Controlling a robot with your voice
Enabling a robot to speak
Enabling a robot to recognize faces
Summary

What You Will Learn

  • Get to know the fundamentals of ROS and apply its concepts to real robot examples
  • Control a mobile robot to navigate autonomously in an environment
  • Model your robot designs using URDF and Xacro, and operate them in a ROS Gazebo simulation
  • Control a 7 degree-of-freedom robot arm for visual servoing
  • Fly a quadcopter to autonomous waypoints
  • Gain working knowledge of ROS tools such as Gazebo, rviz, rqt, and Move-It
  • Control robots with mobile devices and controller boards

Authors

Table of Contents

Chapter 1: Getting Started with ROS
What does ROS do and what are the benefits of learning ROS?
Which robots are using ROS?
Installing and launching ROS
Creating a catkin workspace
ROS packages and manifest
ROS nodes and ROS Master
Turtlesim, the first ROS robot simulation
ROS commands summary
Summary
Chapter 2: Creating Your First Two-Wheeled ROS Robot (in Simulation)
Rviz
Creating and building a ROS package
Building a differential drive robot URDF
Gazebo
Summary
Chapter 3: Driving Around with TurtleBot
Introducing TurtleBot
Loading TurtleBot simulator software
Launching TurtleBot simulator in Gazebo
Setting up to control a real TurtleBot
Networking the netbook and remote computer
TurtleBot hardware specifications
Move the real TurtleBot
Introducing rqt tools
TurtleBot's odometry
TurtleBot automatic docking
Summary
Chapter 4: Navigating the World with TurtleBot
3D vision systems for TurtleBot
Configuring TurtleBot and installing the 3D sensor software
Testing the 3D sensor in standalone mode
Running ROS nodes for visualization
Navigating with TurtleBot
Summary
Chapter 5: Creating Your First Robot Arm (in Simulation)
Features of Xacro
Building an articulated robot arm URDF using Xacro
Controlling an articulated robot arm in Gazebo
Summary
Chapter 6: Wobbling Robot Arms Using Joint Control
Introducing Baxter
Baxter's arms
Loading the Baxter software
Launching Baxter Simulator in Gazebo
Baxter's arms and forward kinematics
Introducing MoveIt
Configuring a real Baxter setup
Controlling a real Baxter
Inverse kinematics
Summary
Chapter 7: Making a Robot Fly
Introducing quadrotors
Understanding quadrotor sensors
Preparing to fly your quadrotor
Using ROS with UAVs
Introducing Hector Quadrotor
Introducing Crazyflie 2.0
Introducing Bebop
Summary
Chapter 8: Controlling Your Robots with External Devices
Creating a custom ROS game controller interface
Creating a custom ROS Android device interface
Creating ROS nodes on Arduino or Raspberry Pi
Summary
Chapter 9: Flying a Mission with Crazyflie
Mission components
Loading software for the mission
Setting up the mission
How to control Crazyflie
Flying Crazyflie
Summary
Chapter 10: Extending Your ROS Abilities
Controlling a robot with your voice
Enabling a robot to speak
Enabling a robot to recognize faces
Summary

Book Details

ISBN 139781782175193
Paperback428 pages
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