Mastering ROS for robotics programming : design, build, and simulate complex robots using the Robot Operating System / Lentin Joseph, Jonathan Cacace.

Format:

Book

Author/Creator:

Joseph, Lentin, author.

Cacace, Jonathan, author.

Language:

English

Subjects (All):

Robots--Programming.

Robots.

Physical Description:

1 online resource (552 pages) : color illustrations

Edition:

Second edition.

Place of Publication:

Birmingham, [England] ; Mumbai, [India] : Packt, 2018.

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.

Summary:

Discover best practices and troubleshooting solutions when working on ROS About This Book Develop complex robotic applications using ROS to interface robot manipulators and mobile robots Gain insight into autonomous navigation in mobile robots and motion planning in robot manipulators Discover best practices and troubleshooting solutions Who This Book Is For If you are a robotics enthusiast or researcher who want to learn more about building robot applications using ROS, this book is for you. In order to learn from this book, you should have a basic knowledge of ROS, GNU/Linux, and C++ programming concepts. The book is also excellent for programmers who want to explore the advanced features of ROS. What You Will Learn Create a robot model with a seven-DOF robotic arm and a differential wheeled mobile robot Work with Gazebo and V-REP robotic simulator Implement autonomous navigation in differential drive robots using SLAM and AMCL packages Explore the ROS Pluginlib, ROS nodelets, and Gazebo plugins Interface I/O boards such as Arduino, robot sensors, and high-end actuators Simulate and motion plan an ABB and universal arm using ROS Industrial Explore the latest version of the ROS framework Work with the motion planning of a seven-DOF arm using MoveIt! In Detail In this day and age, robotics has been gaining a lot of traction in various industries where consistency and perfection matter. Automation 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 advanced concepts, and effectively teaches you programming using ROS. We begin with aninformative overview of the ROS framework, which will give you a clear idea of how ROS works. During the course of this book, you'll learn to build models of complex robots, and simulate and interface the robot using the ROS MoveIt! motion planning library and ROS navigation stacks. Learn to leverage several ROS packages to embrace your robot models. After covering robot manipulation and navigation, you'll get to grips with the interfacing I/O boards, sensors, and actuators of ROS. Vision sensors are a key component of robots, and an entire chapter is dedicated to the vision sensor and image elaboration, its interface in ROS and programming. You'll also understand the hardware interface and simulation of co...

Contents:

Cover

Title Page

Copyright and Credits

www.PacktPub.com

Contributors

Table of Contents

Preface

Chapter 1: Introduction to ROS

Why should we learn ROS?

Why we prefer ROS for robots

Why some do not prefer ROS for robots

Understanding the ROS filesystem level

ROS packages

ROS metapackages

ROS messages

The ROS services

Understanding the ROS computation graph level

ROS nodes

ROS topics

ROS services

ROS bags

The ROS Master

Using the ROS parameter

ROS community level

What are the prerequisites for starting with ROS?

Running the ROS Master and the ROS parameter server

Checking the roscore command output

Questions

Summary

Chapter 2: Getting Started with ROS Programming

Creating a ROS package

Working with ROS topics

Creating ROS nodes

Building the nodes

Adding custom msg and srv files

Working with ROS services

Working with ROS actionlib

Creating the ROS action server

Creating the ROS action client

Building the ROS action server and client

Creating launch files

Applications of topics, services, and actionlib

Maintaining the ROS package

Releasing your ROS package

Preparing the ROS package for the release

Releasing our package

Creating a Wiki page for your ROS package

Chapter 3: 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 3D robot model in RViz

Interacting with pan-and-tilt joints

Adding physical and collision properties to a URDF model

Understanding robot modeling using xacro

Using properties

Using the math expression

Using macros

Converting xacro to URDF.

Creating the robot description for a seven DOF robot manipulator

Arm specification

Type of joints

Explaining the xacro model of the seven DOF arm

Using constants

Including other xacro files

Using meshes in the link

Working with the robot gripper

Viewing the seven DOF arm in RViz

Understanding joint state publisher

Understanding robot state publisher

Creating a robot model for the differential drive mobile robot

Chapter 4: Simulating Robots Using ROS and Gazebo

Simulating the robotic arm using Gazebo and ROS

Creating the robotic arm simulation model for Gazebo

Adding colors and textures to the Gazebo robot model

Adding transmission tags to actuate the model

Adding the gazebo_ros_control plugin

Adding a 3D vision sensor to Gazebo

Simulating the robotic arm with Xtion Pro

Visualizing the 3D sensor data

Moving robot joints using ROS controllers in Gazebo

Understanding the ros_control packages

Different types of ROS controllers and hardware interfaces

How the ROS controller interacts with Gazebo

Interfacing joint state controllers and joint position controllers to the arm

Launching the ROS controllers with Gazebo

Moving the robot joints

Simulating a differential wheeled robot in Gazebo

Adding the laser scanner to Gazebo

Moving the mobile robot in Gazebo

Adding joint state publishers in the launch file

Adding the ROS teleop node

Chapter 5: Simulating Robots Using ROS and V-REP

Setting up V-REP with ROS

Understanding the vrep_plugin

Interacting with V-REP using ROS services

Interacting with V-REP using ROS topics

Simulating the robotic arm using V-REP and ROS

Adding the ROS interface to V-REP joint controllers

Simulating a differential wheeled robot in V-REP.

Adding a laser sensor to V-REP

Adding a 3D vision sensor to V-REP

Chapter 6: Using the ROS MoveIt! and Navigation Stack

Installing MoveIt!

MoveIt! architecture

The move_group node

Motion planning using MoveIt!

Motion planning request adapters

MoveIt! planning scene

MoveIt! kinematics handling

MoveIt! collision checking

Generating MoveIt! configuration package using the Setup Assistant tool

Step 1 - Launching the Setup Assistant tool

Step 2 - Generating the Self-Collision matrix

Step 3 - Adding virtual joints

Step 4 - Adding planning groups

Step 5 - Adding the robot poses

Step 6 - Setting up the robot end effector

Step 7 - Adding passive joints

Step 8 - Author information

Step 9 - Generating configuration files

Motion planning of robot in RViz using MoveIt! configuration package

Using the RViz Motion Planning plugin

Interfacing the MoveIt! configuration package to Gazebo

Step 1 - Writing the controller configuration file for MoveIt!

Step 2 - Creating the controller launch files

Step 3 - Creating the controller configuration file for Gazebo

Step 4 - Creating the launch file for Gazebo trajectory controllers

Step 5 - Debugging the Gazebo- MoveIt! interface

Understanding the ROS Navigation stack

ROS Navigation hardware requirements

Working with Navigation packages

Understanding the move_base node

Working of Navigation stack

Localizing on the map

Sending a goal and path planning

Collision recovery behavior

Sending the command velocity

Installing the ROS Navigation stack

Building a map using SLAM

Creating a launch file for gmapping

Running SLAM on the differential drive robot

Implementing autonomous navigation using amcl and a static map

Creating an amcl launch file

Summary.

Chapter 7: Working with pluginlib, Nodelets, and Gazebo Plugins

Understanding pluginlib

Creating plugins for the calculator application using pluginlib

Working with the pluginlib_calculator package

Step 1 - Creating the calculator_base header file

Step 2 - Creating the calculator_plugins header file

Step 3 - Exporting plugins using the calculator_plugins.cpp

Step 4 - Implementing the plugin loader using the calculator_loader.cpp

Step 5 - Creating the plugin description file: calculator_plugins.xml

Step 6 - Registering the plugin with the ROS package system

Step 7 - Editing the CMakeLists.txt file

Step 8 - Querying the list of plugins in a package

Step 9 - Running the plugin loader

Understanding ROS nodelets

Creating a nodelet

Step 1 - Creating a package for a nodelet

Step 2 - Creating the hello_world.cpp nodelet

Step 3 - Explanation of hello_world.cpp

Step 4 - Creating the plugin description file

Step 5 - Adding the export tag in package.xml

Step 6 - Editing CMakeLists.txt

Step 7 - Building and running nodelets

Step 8 - Creating launch files for nodelets

Understanding the Gazebo plugins

Creating a basic world plugin

Chapter 8: Writing ROS Controllers and Visualization Plugins

Understanding ros_control packages

The controller_interface package

Initializating the controller

Starting the ROS controller

Updating the ROS controller

Stopping the controller

The controller_manager

Writing a basic joint controller in ROS

Step 1 - Creating the controller package

Step 2 - Creating the controller header file

Step 3 - Creating the controller source file

Step 4 - Explaining the controller source file

Step 5 - Creating the plugin description file

Step 6 - Updating package.xml

Step 7 - Updating CMakeLists.txt.

Step 8 - Building the controller

Step 9 - Writing the controller configuration file

Step 10 - Writing the launch file for the controller

Step 11 - Running the controller along with the seven dof arm in Gazebo

Understanding the ROS visualization tool (RViz) and its plugins

Displays panel

RViz toolbar

Views

Time panel

Dockable panels

Writing an RViz plugin for teleoperation

Methodology of building the RViz plugin

Step 1 - Creating the RViz plugin package

Step 2 - Creating the RViz plugin header file

Step 3 - Creating the RViz plugin definition

Step 5 - Adding the export tags in package.xml

Step 7 - Building and loading plugins

Chapter 9: Interfacing I/O Boards, Sensors, and Actuators to ROS

Understanding the Arduino-ROS interface

What is the Arduino-ROS interface?

Understanding the rosserial package in ROS

Installing rosserial packages on Ubuntu 16.04

Understanding ROS node APIs in Arduino

ROS - Arduino Publisher and Subscriber example

Arduino-ROS, example - blink LED and push button

Arduino-ROS, example - Accelerometer ADXL 335

Arduino-ROS, example - ultrasonic distance sensor

Equations to find distance using the ultrasonic range sensor

Arduino-ROS example - Odometry Publisher

Interfacing non-Arduino boards to ROS

Setting ROS on Odroid-XU4 and Raspberry Pi 2

How to install an OS image to Odroid-XU4 and Raspberry Pi 2

Installation in Windows

Installation in Linux

Connecting to Odroid-XU4 and Raspberry Pi 2 from a PC

Configuring an Ethernet hotspot for Odroid-XU4 and Raspberry Pi 2

Installing Wiring Pi on Odroid-XU4

Installing Wiring Pi on Raspberry Pi 2

Blinking LED using ROS on Raspberry Pi 2.

Push button + blink LED using ROS on Raspberry Pi 2.

Notes:

Includes index.

Description based on online resource; title from PDF title page (EBC, viewed March 22, 2018).

ISBN:

9781788474528

178847452X

OCLC:

1030304582