Robot Operating System Cookbook电子书

Title Page

Copyright and Credits

Robot Operating System Cookbook

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PacktPub.com

Contributors

About the author

About the reviewer

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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

Getting Started with ROS

Introduction

Installing ROS on desktop systems

ROS distribution

Supported operating systems

How to do it…

Configuring Ubuntu repositories

Setting up the source.list file

Setting up keys

ROS Kinetic Installation

ROS Melodic installation

Initializing rosdep

Setting up the environment

Getting rosinstall

Build Farm Status

Installing ROS on a virtual machine

How to do it…

Using ROS from a Linux container

Getting ready

How to do it…

Installing Docker

Adding the Docker repository to APT sources

Getting and using ROS Docker images

See also

Installing ROS on an ARM-based board

Getting ready

How to do it…

Setting system locale

Setting up sources.list

Setting up keys

Installing the ROS packages

Adding individual packages

Initializing rosdep

Environment setup

Getting rosinstall

ROS Architecture and Concepts I

Introduction

Exploring the ROS filesystem

Getting ready

How to do it…

There's more…

Analyzing the ROS computation graph

Getting ready

How it works...

Associating with the ROS community

Getting ready

Learning working with ROS

Getting ready

How to do it…

How it works…

Creating ROS nodes

Building the ROS node

Creating ROS messages

Creating ROS services

See also

Understanding the ROS launch file

ROS Architecture and Concepts – II

Introduction

Understanding the parameter server and dynamic parameters

Getting ready

How to do it…

Understanding the ROS actionlib

Getting ready

How to do it…

Understanding the ROS pluginlib

Getting ready

How to do it…

Creating plugins

Compiling the plugin library

Plugins registration

Making the plugins available to the ROS toolchain

The Plugin XML File

Exporting plugins

Using a plugin

Running the code

Understanding the ROS nodelets

Getting ready

How to do it…

Creating a nodelet

Plugin description

Building and running nodelets

There's more…

Understanding the Gazebo Framework and plugin

Getting ready

How to do it…

Hello World plugin

Compiling the plugin

Using a plugin

Understanding the ROS transform frame (TF)

Getting ready

Using view_frames

Using rqt_tf_tree

Using tf_echo

Using RViz and TF

How to do it…

Writing a TF broadcaster

Writing a tf listener

Compiling and running the TF

Understanding the ROS Visualization tool (RViz) and its plugins

Getting ready

Display panel

RViz toolbar

View panel

Time panel

Developing an RViz plugin for IMU Display

How to do it…

Exporting the plugin

Building and working with the plugin

ROS Visualization and Debugging Tools

Introduction

Debugging and profiling ROS nodes

Getting ready

How to do it…

Logging and visualizing ROS messages

Getting ready

How it works…

There's more…

Inspecting and diagnosing the ROS system

Getting ready

How to do it…

Visualizing and plotting scalar data

Getting ready

How to do it…

There's more…

Visualizing non-scalar data – 2D/3D images

Getting ready

How it works…

Recording and playing back ROS topics

Getting ready

How it works…

There's more…

Accessing Sensors and Actuators through ROS

Introduction

Understanding the Arduino-ROS interface

Getting ready

How to do it…

How it works…

Interfacing 9DoF Razor IMU-Arduino-ROS

Getting ready

How to do it…

How it works…

Using a GPS system – Ublox

Getting ready

How to do it…

How it works…

Interfacing servomotors – Dynamixel

How to do it…

How it works…

Using a Laser Rangefinder – Hokuyo

Getting ready

How to do it…

How it works…

Working with the Kinect sensor to view objects in 3D

Getting ready

How to do it…

How it works…

Using a joystick or a gamepad in ROS

How to do it…

How it works…

ROS Modeling and Simulation

Introduction

Understanding robot modeling using URDF

Getting ready

How it works…

Understanding robot modeling using xacro

Getting ready

How it works…

Understanding the joint state publisher and the robot state publisher

Getting ready

How it works…

There's more…

Understanding the Gazebo architecture and interface with ROS

Getting ready

How to do it…

Integrating sensors

Using map

Controlling the robot

Mobile Robot in ROS

Introduction

The navigation stack in ROS

Getting ready

How it works…

Transform Frames

Sensors

Odometry

Base controller

Map

Interfacing the mobile robot to the navigation stack

Getting ready

How to do it…

How it works…

Common parameters

Global costmap

Local costmap

Configuring the planner

Creating a launch file for the navigation stack

Getting ready

How it works…

Setting up RViz for the navigation stack – visualization

Getting ready

How it works…

2D pose estimate

2D nav goal

Static map

Particle cloud

Robot's footprint

Local costmap

Global costmap

Global plan

Local plan

Planner plan

Current goal

There's more…

Robot localization – Adaptive Monte Carlo Localization (AMCL)

Getting ready

How it works…

Configuring navigation stack parameters with rqt_reconfigure

How it works…

Autonomous navigation of mobile robots – avoiding obstacles

Getting ready

How it works…

Sending goals

Getting ready

How it works…

The Robotic Arm in ROS

Introduction

Dangerous workspaces

Repetitive or unpleasant work

Human-intractable workspaces

Basic concepts of MoveIt!

MoveIt

Motion planning

Perception

Grasping

Getting ready

DoFs for manipulation

Grippers

Motion planning using graphical interfaces

Getting ready

MoveIt architecture

How it works…

Basic motion planning

How it works…

MoveIt! planning scene

MoveIt! kinematics handling

MoveIt! collision checking

There's more…

Moving the real robot

Performing motion planning using control programs

Getting ready

How to do it…

Planning a trajectory

Planning to a joint space goal

Getting useful information from motion planning

Executing a trajectory

Adding perception to motion planning

Getting ready

How to do it…

Adding perception to MoveIt

How it works…

There's more…

See also…

Grasping action with the robotic arm or manipulator

Getting ready

Creating a pick and place task

How to do it…

How it works…

See also

Micro Aerial Vehicles in ROS

Introduction

Overview of MAV system design

Getting ready

A generic mathematical model of an MAV/drone

Getting ready

Forces and moments on quadcopter

Hover and upward and downward motion

Rotation (yaw) motion

Linear (pitch and roll) motion

Simulation of an MAV/drone using RotorS/Gazebo

Getting ready

Simulator overview

How to do it…

Hovering

State estimation

Sensors mounting

Evaluation

How it works…

Developing a custom controller

There's more…

See also

Creating custom sensors

Autonomous navigation framework for an MAV/Drone

Getting ready

Collision avoidance

Path planning

How to do it…

How it works…

Working with a real MAV/drone – Parrot, Bebop

Getting ready

How to do it…

Executing the trajectory with the real MAV/drone

How it works…

ROS-Industrial (ROS-I)

Introduction

Understanding ROS-I packages

Getting ready

3D modeling and simulation of an industrial robot and MoveIt!

Getting ready

URDF modeling for an industrial robot

How to do it…

Controlling the robot in the simulation

Working with ROS-I packages – Universal Robots, ABB robot

Getting ready

Universal Robots

ABB Robots

ROS-I Robot support packages

Getting ready

ROS-I Robot client package

Getting ready

ROS-I robot driver specification

Getting ready

Developing a custom MoveIt! IKFast plugin

Getting ready

OpenRAVE installation

How to do it…

ROS-I-MTConnect integration

Getting ready

How to do it…

Future of ROS-I – hardware support, capabilities, and applications

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