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Title Page
Copyright and Credits
Robot Operating System Cookbook
www.PacktPub.com
Why subscribe?
PacktPub.com
Contributors
About the author
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
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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