ROS robotics by example : learning to control wheeled, limbed, and flying robots using ROS kinetic kame. / Carol Fairchild, Dr. Thomas L. Harman.

Format:

Book

Author/Creator:

Fairchild, Carol, author.

Harman, Thomas L., Dr., author.

Language:

English

Subjects (All):

Robots--Programming.

Robots.

Personal robotics.

Physical Description:

1 online resource (1 volume) : illustrations

Edition:

Second edition.

Other Title:

Robot Operating System robotics by example

Place of Publication:

Birmingham, [England] ; Mumbai, [India] : Packt Publishing, 2017.

System Details:

text file

Biography/History:

Joseph Lentin: Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA. Fairchild Carol: Carol Fairchild is the owner and principal engineer of Fairchild Robotics, a robotics development and integration company. She is a researcher at Baxter's Lab at the University of HoustonClear Lake (UHCL) and a member of the adjunct faculty. Her research involves the use of Baxter for expanded applications. Ms. Fairchild has been involved in many aspects of robotics from her earliest days of building her first robot, a Heathkit Hero. She has an MS in computer engineering from UHCL and a BS in engineering technology from Texas A&M. Ms. Fairchild has taught middle-school robotics, coached FLL, and volunteered for FIRST Robotics in Houston. Harman Dr. Thomas L. : Dr. Thomas L. Harman is the chair of the engineering division at UHCL. His research interests are control systems and applications of robotics and microprocessors. Several of his research papers with colleagues involve robotic and laser applications in medicine. In 2005, he was selected as the UHCL Distinguished Professor. He has been a judge and safety advisor for the FIRST robotic contests in Houston. Dr. Harman has authored or coauthored 18 books on subjects including microprocessors, MATLAB and Simulink applications, and the National Electrical Code. His laboratory at UHCL has a Baxter two-armed robot and several TurtleBots as well as other robots.

Summary:

Learning how to build and program your own robots with the most popular open source robotics programming framework About This Book Get to know the fundamentals of ROS and apply its concepts to real examples Learn how to write robotics applications without getting bogged down in hardware problems Learn to implement best practices in ROS development Who This Book Is For This book is for robotic enthusiasts, researchers and professional robotics engineers who would like to build robot applications using ROS. It gives the robotics beginner and the ROS newbie an immensely practical introduction to robot building and robotics application coding. Basic knowledge of GNU/Linux and the ability to write simple applications is assumed, but no robotics knowledge, practical or theoretical, is needed. 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 In Detail 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. Style and approach ROS Robotics By Example, Second Edition give...

Contents:

Cover

Copyright

Credits

About the Authors

About the Reviewer

www.PacktPub.com

Customer Feedback

Table of Contents

Preface

Chapter 1: Getting Started with ROS

What does ROS do and what are the benefits of learning ROS?

Who controls ROS?

Which robots are using ROS?

Installing and launching ROS

Configuring your Ubuntu repositories

Setting up your sources.list file

Setting up your keys

Installing ROS Kinetic

Initialize rosdep

Environment setup

Getting rosinstall

Troubleshooting - examining your ROS environment

Creating a catkin workspace

ROS packages and manifest

ROS manifest

Exploring the ROS packages

rospack find packages

rospack list

ROS nodes, topics, and messages

ROS nodes

ROS topics

ROS messages

ROS Master

Invoking the ROS Master using roscore

ROS commands to determine the nodes and topics

Turtlesim - the first ROS robot simulation

Starting turtlesim nodes

rosrun command

Turtlesim nodes

Turtlesim topics and messages

rostopic list

rostopic type

rosmsg list

rosmsg show

rostopic echo

Move the turtle by publishing /turtle1/cmd_vel

Move the turtle using the keyboard or joystick

Parameter Server of Turtlesim

rosparam help

rosparam list for the /turtlesim node

Change parameters for the color of the turtle's background

ROS services to move turtle

rosservice call

ROS commands summary

Summary

Chapter 2: Creating Your First Two-Wheeled ROS Robot (in Simulation)

Introducing rviz

Installing and launching rviz

Getting familiar with rviz

Displays panel

Views and Time panels

Toolbar

Main window menu bar

Creating and building a ROS package

Building a differential drive robot URDF

Creating a robot chassis

Using roslaunch

Adding wheels

Adding a caster.

Adding color

Adding collisions

Moving the wheels

A word about tf and robot_state_publisher

Adding physical properties

Trying URDF tools

check_urdf

urdf_to_graphiz

Gazebo

Installing and launching Gazebo

Using roslaunch with Gazebo

Getting familiar with Gazebo

Environment toolbar

World, Insert and Layers panels

Joints panel

Simulation panel

Modifications to the robot URDF

Adding the Gazebo tag

Specifying color in Gazebo

A word about the &lt

visual&gt

and &lt

collision&gt

elements in Gazebo

Verifying a Gazebo model

Viewing the URDF in Gazebo

Tweaking your model

Moving your model around

Other ROS simulation environments

Chapter 3: Driving Around with TurtleBot

Introducing TurtleBot 2

Loading TurtleBot 2 simulator software

Launching TurtleBot 2 simulator in Gazebo

Problems and troubleshooting

ROS commands and Gazebo

Keyboard teleoperation of TurtleBot 2 in simulation

Setting up to control a real TurtleBot 2

TurtleBot 2 standalone test

Networking the netbook and remote computer

Types of networks

Network addresses

Remote computer network setup

Netbook network setup

Secure Shell (SSH) connection

Summary of network setup

Troubleshooting your network connection

Testing the TurtleBot 2 system

TurtleBot 2 hardware specifications

TurtleBot 2 dashboard

Moving the real TurtleBot 2

Using keyboard teleoperation to move TurtleBot 2

Using ROS commands to move TurtleBot 2 around

Writing your first Python script to control TurtleBot 2

Introducing rqt tools

rqt_graph

rqt message publisher and topic monitor

TurtleBot's odometry

Odom for the simulated TurtleBot 2

Real TurtleBot 2's odometry display in rviz

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

Installing remote computer software

Installing SBC software

Loading Ubuntu MATE

Loading ROS packages

Loading TurtleBot 3 packages

Setting up udev rules for TurtleBot 3

Networking TurtleBot 3 and the remote computer

TurtleBot 3 network setup

SSH connection

Testing the SSH communication

Moving the real TurtleBot 3

Using keyboard teleoperation to move TurtleBot 3

Chapter 4: Navigating the World with TurtleBot

3D vision systems for TurtleBot

How these 3D vision sensors work

Comparison of 3D sensors

Microsoft Kinect

ASUS

PrimeSense Carmine

Intel RealSense

Hitachi-LG LDS

Obstacle avoidance drawbacks

Configuring TurtleBot and installing the 3D sensor software

Kinect

ASUS and PrimeSense

Camera software structure

Defining terms

Testing the 3D sensor in standalone mode

Running ROS nodes for visualization

Visual data using Image Viewer

Visual data using rviz

Navigating with TurtleBot

Mapping a room with TurtleBot 2

Building a map

How does TurtleBot accomplish this mapping task?

Autonomous navigation with TurtleBot 2

Driving without steering TurtleBot 2

rviz control

How does TurtleBot accomplish this navigation task?

Navigating to a designated location

Navigating to waypoints with a Python script using a map

Defining TurtleBot's position on a map

Defining waypoints on a map

Using Python code to move TurtleBot

TurtleBot at final goal point

SLAM for TurtleBot 3.

Autonomous navigation with TurtleBot 3

rqt_reconfigure

Exploring ROS navigation further

Chapter 5: Creating Your First Robot Arm (in Simulation)

Features of Xacro

Building an articulated robot arm URDF using Xacro

Specifying a namespace

Using the Xacro property tag

Expanding Xacro

Using roslaunch for rrbot

Using the Xacro include and macro tags

Adding mesh to the robot arm

Controlling an articulated robot arm in Gazebo

Adding Gazebo-specific elements

Fixing the robot arm to the world

Viewing the robot arm in Gazebo

Adding controls to Xacro

Defining transmission elements for joints

Adding a Gazebo ROS control plugin

Creating a YAML configuration file

Creating a control launch file

Controlling your robot arm with the ROS command line

Controlling your robot arm with rqt

Trying more things in rqt

Chapter 6: Wobbling Robot Arms Using Joint Control

Introducing Baxter

Baxter, the research robot

Baxter Simulator

Baxter's arms

Baxter's bend joints

Baxter's twist joints

Baxter's coordinate frame

Control modes for Baxter's arms

Baxter's grippers

Baxter's arm sensors

Loading Baxter software

Installing Baxter SDK software

Installing Baxter Simulator

Configuring the Baxter shell

Installing MoveIt!

Launching Baxter Simulator in Gazebo

Bringing Baxter Simulator to life

Warm-up exercises

Flexing Baxter's arms

Untucking Baxter's arms

Wobbling arms

Controlling arms and grippers with a keyboard

Controlling arms and grippers with a joystick

Controlling arms with a Python script

Recording and replaying arm movements

Baxter's arms and forward kinematics

Joints and joint state publisher

Understanding tf

A program to move Baxter's arms to a zero angle position.

Commanding the joint angles directly

rviz tf frames

Viewing a tf tree of robot elements

Introducing MoveIt!

Planning a move of Baxter's arms with MoveIt!

Adding objects to a scene

Position of objects

Planning a move to avoid obstacles with MoveIt!

Configuring a real Baxter setup

Controlling a real Baxter

Commanding joint position waypoints

Commanding joint torque springs

Demonstrating joint velocity

Additional examples

Visual servoing and grasping

Inverse kinematics

Moving Baxter's arms with IK

Using a state machine to perform YMCA

Chapter 7: Making a Robot Fly

Introducing quadrotors

Why are quadrotors so popular?

Defining roll, pitch, and yaw

How do quadrotors fly?

Components of a quadrotor

Adding sensors

Quadrotor communications

Understanding quadrotor sensors

Inertial measurement unit

Quadrotor condition sensors

Preparing to fly your quadrotor

Testing your quadrotor

Pre-flight checklist

Precautions when flying your quadrotor

Following the rules and regulations

Using ROS with UAVs

Introducing Hector Quadrotor

Loading Hector Quadrotor

Launching Hector Quadrotor in Gazebo

Flying Hector outdoors

Flying Hector indoors

Introducing Crazyflie 2.0

Controlling Crazyflie without ROS

Communicating using Crazyradio PA

Loading Crazyflie ROS software

Setting up udev rules for Crazyradio

Pre-flight check

Flying Crazyflie with teleop

Details of teleop_xbox360.launch

Flying with a motion capture system

Flying multiple Crazyflies

Introducing Bebop

Loading bebop_autonomy software

Testing Bebop communications

Flying Bebop using commands

Take off

Landing

Chapter 8: Controlling Your Robots with External Devices

Creating a custom ROS game controller interface.

Testing a game controller.

Notes:

Includes index.

Includes bibliographical references and index.

Description based on online resource; title from PDF title page (EBC, viewed January 3, 2018).

ISBN:

9781788474726

1788474724

OCLC:

1019128796