Mastering Ros for Robotics Programming
Do you happen to have been searching for a place where you can download mastering ros for robotics programming book in PDF without restriction? Have you been searching for long without getting answers? Then you just came to the end of your search as you need not search anymore. I bring you the latest information on this Collegelearners site where you can download mastering ros for robotics programming book PDF without any cost or registration. What are you waiting for? All the mechanical engineering PDF books you need, now at your fingertips on Collegelearners site!
About Mastering Ros for Robotics Programming PDF Book
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 complex robots to ROS and ROS Industrial.
At the end of this book, you’ll discover the best practices to follow when programming using ROS.
Style and approach
This is a simplified guide to help you learn and master advanced topics in ROS using hands-on examples.
Table of contents of Mastering Ros for Robotics Programming
Title Page
Copyright and Credits
Mastering ROS for Robotics Programming Second Edition
www.PacktPub.com
Why subscribe?
PacktPub.com
Contributors
About the authors
About the reviewer
Packt is searching for authors like you
Preface
Who this book is for
What this book covers
To get the most out of this book
Download the example code files
Download the color images
Conventions used
Get in touch
Reviews
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 messages
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
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
Questions
Summary
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
Using macros
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
Questions
Summary
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
Questions
Summary
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
Questions
Summary
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
Questions
Summary
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
Questions
Summary
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 4 – Creating the plugin description file
Step 5 – Adding the export tags in package.xml
Step 6 – Editing CMakeLists.txt
Step 7 – Building and loading plugins
Questions
Summary
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
Running examples in Raspberry Pi 2
Interfacing DYNAMIXEL actuators to ROS
Questions
Summary
Programming Vision Sensors Using ROS, Open CV, and PCL
Understanding ROS – OpenCV interfacing packages
Understanding ROS – PCL interfacing packages
Installing ROS perception
Interfacing USB webcams in ROS
Working with ROS camera calibration
Converting images between ROS and OpenCV using cv_bridge
Image processing using ROS and OpenCV
Step 1 – Creating a ROS package for the experiment
Step 2 – Creating source files
Step 3 – Explanation of the code
Publishing and subscribing images using image_transport
Converting OpenCV to ROS images using cv_bridge
Finding edges on the image
Visualizing raw and edge-detected-images
Step 4 – Editing the CMakeLists.txt file
Step 5 – Building and running an example
Interfacing Kinect and Asus Xtion Pro in ROS
Interfacing Intel Real Sense camera with ROS
Working with a point cloud to a laser scan package
Interfacing Hokuyo Laser in ROS
Working with point cloud data
How to publish a point cloud
How to subscribe and process the point cloud
Writing data to a Point Cloud Data (PCD) file
Reading and publishing a point cloud from a PCD file
Working with AR Marker detection for object pose estimation
Using AprilTag with ROS
Questions
Summary
Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
Introducing to Chefbot – a DIY mobile robot and its hardware configuration
Flashing Chefbot firmware using Energia IDE
Serial data sending protocol from LaunchPad to PC
Serial data sending protocol from PC to Launchpad
Discussing Chefbot interface packages on ROS
Computing odometry from encoder ticks
Computing motor velocities from ROS twist message
Running the robot standalone launch file using C++ nodes
Configuring the Navigation stack for Chefbot
Configuring the gmapping node
Configuring the Navigation stack packages
Common configuration local_costmap and global_costmap
Configuring global costmap parameters
Configuring local costmap parameters
Configuring base local planner parameters
Configuring DWA local planner parameters
Configuring move_base node parameters
Understanding AMCL
Understanding RViz for working with the Navigation stack
2D Pose Estimate button
Visualizing the particle cloud
The 2D Nav Goal button
Displaying the static map
Displaying the robot footprint
Displaying the global and local cost map
Displaying the global plan, the local plan, and the planner plan
The current goal
Obstacle avoidance using the Navigation stack
Working with Chefbot simulation
Building a room in Gazebo
Adding model files to the Gazebo model folder
Sending a goal to the Navigation stack from a ROS node
Questions
Summary
Exploring the Advanced Capabilities of ROS-MoveIt!
Motion planning using the move_group C++ interface
Motion planning a random path using MoveIt! C++ APIs
Motion planning a custom path using MoveIt! C++ APIs
Collision checking with a robot arm using MoveIt!
Adding a collision object to MoveIt!
Removing a collision object from the planning scene
Attaching a collision object to a robot link
Checking self-collisions using MoveIt! APIs
Working with perception using MoveIt! and Gazebo
Manipulating objects with MoveIt!
Working with a robot pick-and-place task using MoveIt!
Calculating grasp poses with GPD
Pick and place action in Gazebo and real robot
Understanding DYNAMIXEL ROS Servo controllers for robot hardware interfacing
The DYNAMIXEL servos
DYNAMIXEL-ROS interface
Interfacing 7 DOF DYNAMIXEL-based robotic arm to ROS MoveIt!
Creating a controller package for a COOL arm robot
MoveIt! configuration of the COOL Arm
Questions
Summary
Using ROS in MATLAB and Simulink
Getting started with MATLAB and MATLAB-ROS
Getting started with the Robotic System Toolbox and ROS-MATLAB interface
Starting with ROS topics and MATLAB callback functions
Implementing an obstacle avoidance system for a Turtlebot robot
Getting started with ROS and Simulink
Creating a wave signal integrator in Simulink
Working with ROS messages in Simulink
Publishing a ROS message in Simulink
Subscribing to a ROS topic in Simulink
Developing a simple control system in Simulink
Configuring the Simulink model
Questions
Summary
ROS for Industrial Robots
Understanding ROS-Industrial packages
Goals of ROS-Industrial
ROS-Industrial – a brief history
Benefits of ROS-Industrial
Installing ROS-Industrial packages
Block diagram of ROS-Industrial packages
Creating a URDF for an industrial robot
Creating the MoveIt! configuration for an industrial robot
Updating the MoveIt! configuration files
Testing the MoveIt! configuration
Installing ROS-Industrial packages of  Universal robotic arms
Installing the ROS interface of Universal Robots
Understanding the Moveit! configuration of a Universal Robot arm
Getting started with real Universal Robots hardware and ROS-I
Working with MoveIt! configuration of ABB robots
Understanding the ROS-Industrial robot support packages
Visualizing the ABB robot model in RViz
ROS-Industrial robot client package
Designing industrial robot client nodes
ROS-Industrial robot driver package
Understanding the MoveIt! IKFast plugin
Creating the MoveIt! IKFast plugin for the ABB IRB 6640 robot
Prerequisites for developing the MoveIt! IKFast plugin
OpenRave and IK Fast modules
MoveIt! IKFast
Installing the MoveIt! IKFast package
Installing OpenRave on Ubuntu 16.04
Creating the COLLADA file of a robot to work with OpenRave
Generating the IKFast CPP file for the IRB 6640 robot
Creating the MoveIt! IKFast plugin
Questions
Summary
Troubleshooting and Best Practices in ROS
Setting up RoboWare Studio in Ubuntu
Installing/uninstalling RoboWare Studio
Getting started with RoboWare Studio
Create ROS packages in RoboWare Studio
Building ROS workspace in RoboWare Studio
Executing ROS nodes in RoboWare Studio
Starting ROS tools from the RoboWare interface
Handling active ROS topics, nodes, and services
Creating ROS nodes and classes with RoboWare tools
ROS package manager in RoboWare Studio
Best practices in ROS
ROS C++ coding style guide
Standard naming conventions used in ROS
Code license agreement
ROS code formatting
Console output
Best practices in the ROS package
Important troubleshooting tips in ROS
Using roswtf
Questions
Summary
Other Books You May Enjoy
Leave a review – let other readers know what you think
