Effective Robotics Programming with ROS - Third Edition

Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez

• Publisher: Packt Publishing
• Year: 2016
• ISBN:
  9781786461377
• Edition: 3
• Topic: Informatique
• Subtopic: Matériel

Find out everything you need to know to build powerful robots with the most up-to-date ROSAbout This Book• This comprehensive, yet easy-to-follow guide will help you find your way through the ROS framework• Successfully design and simulate your 3D robot model and use powerful robotics algorithms and tools to program and set up your robots with an unparalleled experience by using the exciting new features from Robot Kinetic• Use the latest version of gazebo simulator, OpenCV 3.0, and C++11 standard for your own algorithmsWho This Book Is ForThis book is suitable for an ROS beginner as well as an experienced ROS roboticist or ROS user or developer who is curious to learn ROS Kinetic and its features to make an autonomous Robot. The book is also suitable for those who want to integrate sensors and embedded systems with other software and tools using ROS as a framework.What You Will Learn• Understand the concepts of ROS, the command-line tools, visualization GUIs, and how to debug ROS• Connect robot sensors and actuators to ROS• Obtain and analyze data from cameras and 3D sensors• Use Gazebo for robot/sensor and environment simulation• Design a robot and see how to make it map the environment, navigate autonomously, and manipulate objects in the environment using MoveIt!• Add vision capabilities to the robot using OpenCV 3.0• Add 3D perception capabilities to the robot using the latest version of PCLIn DetailBuilding and programming a robot can be cumbersome and time-consuming, but not when you have the right collection of tools, libraries, and more importantly expert collaboration. ROS enables collaborative software development and offers an unmatched simulated environment that simplifies the entire robot building process.This book is packed with hands-on examples that will help you program your robot and give you complete solutions using open source ROS libraries and tools. It also shows you how to use virtual machines and Docker containers to simplify the installation of Ubuntu and the ROS framework, so you can start working in an isolated and control environment without changing your regular computer setup.It starts with the installation and basic concepts, then continues with more complex modules available in ROS such as sensors and actuators integration (drivers), navigation and mapping (so you can create an autonomous mobile robot), manipulation, Computer Vision, perception in 3D with PCL, and more. By the end of the book, you'll be able to leverage all the ROS Kinetic features to build a fully fledged robot for all your needs.Style and approachThis book is packed with hands-on examples that will help you program your robot and give you complete solutions using ROS open source libraries and tools. All the robotics concepts and modules are explained and multiple examples are provided so that you can understand them easily.

Effective Robotics Programming with ROS Third Edition

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Table of Contents

Effective Robotics Programming with ROS Third Edition

Credits

About the Authors

About the Reviewer

www.PacktPub.com

eBooks, discount offers, and more

Why subscribe?

Customer Feedback

Preface

What this book covers

What you need for this book

Who this book is for

Conventions

Reader feedback

Customer support

Downloading the example code

Downloading the color images of this book

Errata

Piracy

Questions

1. Getting Started with ROS

PC installation

Installing ROS Kinetic using repositories

Configuring your Ubuntu repositories

Setting up your source.list file

Setting up your keys

Installing ROS

Initializing rosdep

Setting up the environment

Getting rosinstall

How to install VirtualBox and Ubuntu

Downloading VirtualBox

Creating the virtual machine

Using ROS from a Docker image

Installing Docker

Getting and using ROS Docker images and containers

Installing ROS in BeagleBone Black

Prerequisites

Setting up the local machine and source.list file

Setting up your keys

Installing the ROS packages

Initializing rosdep for ROS

Setting up the environment in the BeagleBone Black

Getting rosinstall for BeagleBone Black

Basic ROS example on the BeagleBone Black

Summary

2. ROS Architecture and Concepts

Understanding the ROS Filesystem level

The workspace

Packages

Metapackages

Messages

Services

Understanding the ROS Computation Graph level

Nodes and nodelets

Topics

Services

Messages

Bags

The ROS master

Parameter Server

Understanding the ROS Community level

Tutorials to practise with ROS

Navigating through the ROS filesystem

Creating our own workspace

Creating an ROS package and metapackage

Building an ROS package

Playing with ROS nodes

Learning how to interact with topics

Learning how to use services

Using Parameter Server

Creating nodes

Building the node

Creating msg and srv files

Using the new srv and msg files

The launch file

Dynamic parameters

Summary

3. Visualization and Debugging Tools

Debugging ROS nodes

Using the GDB debugger with ROS nodes

Attaching a node to GDB while launching ROS

Profiling a node with valgrind while launching ROS

Enabling core dumps for ROS nodes

Logging messages

Outputting logging messages

Setting the debug message level

Configuring the debugging level of a particular node

Giving names to messages

Conditional and filtered messages

Showing messages once, throttling, and other combinations

Using rqt_console and rqt_logger_level to modify the logging level on the fly

Inspecting the system

Inspecting the node's graph online with rqt_graph

Setting dynamic parameters

Dealing with the unexpected

Visualizing nodes diagnostics

Plotting scalar data

Creating a time series plot with rqt_plot

Image visualization

Visualizing a single image

3D visualization

Visualizing data in a 3D world using rqt_rviz

The relationship between topics and frames

Visualizing frame transformations

Saving and playing back data

What is a bag file?

Recording data in a bag file with rosbag

Playing back a bag file

Inspecting all the topics and messages in a bag file

Using the rqt_gui and rqt plugins

Summary

4. 3D Modeling and Simulation

A 3D model of our robot in ROS

Creating our first URDF file

Explaining the file format

Watching the 3D model on rviz

Loading meshes to our models

Making our robot model movable

Physical and collision properties

Xacro – a better way to write our robot models

Using constants

Using math

Using macros

Moving the robot with code

3D modeling with SketchUp

Simulation in ROS

Using our URDF 3D model in Gazebo

Adding sensors to Gazebo

Loading and using a map in Gazebo

Moving the robot in Gazebo

Summary

5. The Navigation Stack – Robot Setups

The navigation stack in ROS

Creating transforms

Creating a broadcaster

Creating a listener

Watching the transformation tree

Publishing sensor information

Creating the laser node

Publishing odometry information

How Gazebo creates the odometry

Using Gazebo to create the odometry

Creating our own odometry

Creating a base controller

Creating our base controller

Creating a map with ROS

Saving the map using map_server

Loading the map using map_server

Summary

6. The Navigation Stack – Beyond Setups

Creating a package

Creating a robot configuration

Configuring the costmaps – global_costmap and local_costmap

Configuring the common parameters

Configuring the global costmap

Configuring the local costmap

Base local planner configuration

Creating a launch file for the navigation stack

Setting up rviz for the navigation stack

The 2D pose estimate

The 2D nav goal

The static map

The particle cloud

The robot's footprint

The local costmap

The global costmap

The global plan

The local plan

The planner plan

The current goal

Adaptive Monte Carlo Localization

Modifying parameters with rqt_reconfigure

Avoiding obstacles

Sending goals

Summary

7. Manipulation with MoveIt!

The MoveIt! architecture

Motion planning

The planning scene

World geometry monitor

Kinematics

Collision checking

Integrating an arm in MoveIt!

What's in the box?

Generating a MoveIt! package with the Setup Assistant

Integration into RViz

Integration into Gazebo or a real robotic arm

Simple motion planning

Planning a single goal

Planning a random target

Planning a predefined group state

Displaying the target motion

Motion planning with collisions

Adding objects to the planning scene

Removing objects from the planning scene

Motion planning with point clouds

The pick and place task

The planning scene

The target object to grasp

The support surface

Perception

Grasping

The pickup action

The place action

The demo mode

Simulation in Gazebo

Summary

8. Using Sensors and Actuators with ROS

Using a joystick or a gamepad

How does joy_node send joystick movements?

Using joystick data to move our robot model

Using Arduino to add sensors and actuators

Creating an example program to use Arduino

Robot platform controlled by ROS and Arduino

Connecting your robot motors to ROS using A...