ROS Robotics By Example - Second Edition

Learning how to build and program your own robots with the most popular open source robotics programming framework
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ROS Robotics By Example - Second Edition

Carol Fairchild, Dr. Thomas L. Harman

Learning how to build and program your own robots with the most popular open source robotics programming framework

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Book Details

ISBN 139781788479592
Paperback484 pages

Book Description

ROS is a robust robotics framework that works regardless of hardware architecture or hardware origin. It standardizes most layers of robotics functionality from device drivers to process control and message passing to software package management.

But apart from just plain functionality, ROS is a great platform to learn about robotics itself and to simulate, as well as actually build, your first robots. This does not mean that ROS is a platform for students and other beginners; on the contrary, ROS is used all over the robotics industry to implement flying, walking and diving robots, yet implementation is always straightforward, and never dependent on the hardware itself.

ROS Robotics has been the standard introduction to ROS for potential professionals and hobbyists alike since the original edition came out; the second edition adds a gradual introduction to all the goodness available with the Kinetic Kame release.

By providing you with step-by-step examples including manipulator arms and flying robots, the authors introduce you to the new features. The book is intensely practical, with space given to theory only when absolutely necessary. By the end of this book, you will have hands-on experience on controlling robots with the best possible framework.

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, topics, and messages
Turtlesim – the first ROS robot simulation
ROS commands summary
Summary
Chapter 2: Creating Your First Two-Wheeled ROS Robot (in Simulation)
Introducing rviz
Creating and building a ROS package
Building a differential drive robot URDF
Gazebo
Summary
Chapter 3: Driving Around with TurtleBot
Introducing TurtleBot 2
Loading TurtleBot 2 simulator software
Launching TurtleBot 2 simulator in Gazebo
Setting up to control a real TurtleBot 2
Networking the netbook and remote computer
TurtleBot 2 hardware specifications
Moving the real TurtleBot 2
Introducing rqt tools
TurtleBot's odometry
TurtleBot 2 automatic docking
Introducing TurtleBot 3
Loading TurtleBot 3 simulation software
Launching TurtleBot 3 simulation in rviz
Launching TurtleBot 3 simulation in Gazebo
Hardware assembly and testing
Loading TurtleBot 3 software
Networking TurtleBot 3 and the remote computer
Moving the real TurtleBot 3
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 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
Using a state machine to perform YMCA
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: Controlling Baxter with MATLAB©
Installing the MATLAB Robotics System Toolbox
Using MATLAB Robotics System Toolbox and Baxter Simulator
Summary

What You Will Learn

  • Control a robot without requiring a PhD in robotics
  • Simulate and control a robot arm
  • Control a flying robot
  • Send your robot on an independent mission
  • Learning how to control your own robots with external devices
  • Program applications running on your robot
  • Extend ROS itself
  • Extend ROS with the MATLAB Robotics System Toolbox

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, topics, and messages
Turtlesim – the first ROS robot simulation
ROS commands summary
Summary
Chapter 2: Creating Your First Two-Wheeled ROS Robot (in Simulation)
Introducing rviz
Creating and building a ROS package
Building a differential drive robot URDF
Gazebo
Summary
Chapter 3: Driving Around with TurtleBot
Introducing TurtleBot 2
Loading TurtleBot 2 simulator software
Launching TurtleBot 2 simulator in Gazebo
Setting up to control a real TurtleBot 2
Networking the netbook and remote computer
TurtleBot 2 hardware specifications
Moving the real TurtleBot 2
Introducing rqt tools
TurtleBot's odometry
TurtleBot 2 automatic docking
Introducing TurtleBot 3
Loading TurtleBot 3 simulation software
Launching TurtleBot 3 simulation in rviz
Launching TurtleBot 3 simulation in Gazebo
Hardware assembly and testing
Loading TurtleBot 3 software
Networking TurtleBot 3 and the remote computer
Moving the real TurtleBot 3
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 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
Using a state machine to perform YMCA
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: Controlling Baxter with MATLAB©
Installing the MATLAB Robotics System Toolbox
Using MATLAB Robotics System Toolbox and Baxter Simulator
Summary

Book Details

ISBN 139781788479592
Paperback484 pages
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