Learning ROS for Robotics Programming: A practical, instructive, and comprehensive guide to introduce yourself to ROS, the top-notch, leading robotics framework

Cover......Page 1
Copyright......Page 3
Credits......Page 4
About the Authors......Page 5
About the Reviewers......Page 8
www.PacktPub.com......Page 10
Table of Contents......Page 12
Preface......Page 18
Chapters 1: Getting Started with ROS......Page 24
Installing ROS Electric – using repositories......Page 27
Installation......Page 29
The environment setup......Page 30
Configuring your Ubuntu repositories......Page 31
Installation......Page 32
The environment setup......Page 34
How to install VirtualBox and Ubuntu......Page 35
Creating the virtual machine......Page 36
Summary......Page 40
Chapters 2: The ROS Architecture with Examples......Page 42
Understanding the ROS Filesystem level......Page 43
Packages......Page 44
Messages......Page 46
Services......Page 48
Understanding the ROS Computation Graph level......Page 49
Nodes......Page 51
Topics......Page 52
Services......Page 53
Bags......Page 54
Parameter Server......Page 55
Navigating through the ROS filesystem......Page 56
Creating our own workspace......Page 57
Creating an ROS package......Page 58
Playing with ROS nodes......Page 59
Learning how to interact with topics......Page 62
Learning how to use services......Page 66
Using the Parameter Server......Page 68
Creating nodes......Page 69
Building the node......Page 72
Creating msg and srv files......Page 74
Using the new srv and msg files......Page 75
Summary......Page 79
Chapters 3: Debugging and Visualization......Page 80
Using the GDB debugger with ROS nodes......Page 83
Attaching a node to GDB while launching ROS......Page 84
Enabling core dumps for ROS nodes......Page 85
Outputting a debug message......Page 86
Setting the debug message level......Page 87
Configuring the debugging level of a particular node......Page 88
Giving names to messages......Page 89
Conditional and filtered messages......Page 90
More messages – once, throttle, and combinations......Page 91
Using rosconsole and rxconsole to modify the debugging level on the fly......Page 92
Inspecting the node\'s graph online with rxgraph......Page 97
Plotting scalar data......Page 100
Creating a time series plot with rxplot......Page 101
Other plotting utilities – rxtools......Page 103
Visualizing a single image......Page 104
Firewire cameras......Page 105
Working with stereo vision......Page 107
3D visualization......Page 108
Visualizing data on a 3D world using rviz......Page 109
Visualizing frame transformations......Page 111
Saving and playing back data......Page 113
What is a bag file?......Page 114
Recording data in a bag file with rosbag......Page 115
Playing back a bag file......Page 116
Inspecting all the topics and messages in a bag file using rxbag......Page 117
Summary......Page 119
Chapters 4: Using Sensors and Actuators with ROS......Page 120
Using a joystick or gamepad......Page 121
How does joy_node send joystick movements?......Page 122
Using joystick data to move a turtle in turtlesim......Page 123
Using a laser rangefinder – Hokuyo URG-04lx......Page 127
Understanding how the laser sends data in ROS......Page 128
Accessing the laser data and modifying it......Page 130
Creating a launch file......Page 132
Using the Kinect sensor to view in 3D......Page 133
How does Kinect send data from the sensors and how to see it?......Page 134
Creating an example to use Kinect......Page 136
Using servomotors – Dynamixel......Page 138
How does Dynamixel send and receive commands for the movements?......Page 140
Creating an example to use the servomotor......Page 141
Using Arduino to add more sensors and actuators......Page 142
Creating an example to use Arduino......Page 143
Using the IMU – Xsens MTi......Page 146
How does Xsens send data in ROS?......Page 147
Creating an example to use Xsens......Page 148
Using a low-cost IMU – 10 degrees of freedom......Page 150
Programming Arduino Nano and the 10DOF sensor......Page 152
Creating a ROS node to use data from the 10DOF sensor......Page 155
Summary......Page 157
A 3D model of our robot in ROS......Page 158
Creating our first URDF file......Page 159
Explaining the file format......Page 161
Watching the 3D model on rviz......Page 162
Loading meshes to our models......Page 164
Making our robot model movable......Page 165
Physical and collision properties......Page 166
Xacro – a better way to write our robot models......Page 167
Using macros......Page 168
Moving the robot with code......Page 169
3D modeling with SketchUp......Page 173
Simulation in ROS......Page 175
Using our URDF 3D model in Gazebo......Page 176
Adding sensors to Gazebo......Page 179
Loading and using a map in Gazebo......Page 180
Moving the robot in Gazebo......Page 182
Summary......Page 185
Chapters 6: Computer Vision......Page 188
Connecting and running the camera......Page 190
FireWire IEEE1394 cameras......Page 191
USB cameras......Page 195
Making your own USB camera driver with OpenCV......Page 197
Creating the USB camera driver package......Page 198
Using the ImageTransport API to publish the camera frames......Page 199
Dealing with OpenCV and ROS images using cv_bridge......Page 203
Publishing images with ImageTransport......Page 204
How to calibrate the camera......Page 205
Stereo calibration......Page 210
The ROS image pipeline......Page 215
Image pipeline for stereo cameras......Page 218
ROS packages useful for computer vision tasks......Page 221
Performing visual odometry with viso2......Page 222
Camera pose calibration......Page 223
Running the viso2 online demo......Page 227
Running viso2 with our low-cost stereo camera......Page 230
Summary......Page 231
Chapters 7: Navigation Stack – Robot Setups......Page 232
The navigation stack in ROS......Page 233
Creating transforms......Page 234
Creating a listener......Page 235
Watching the transformation tree......Page 238
Publishing sensor information......Page 239
Creating the laser node......Page 240
Publishing odometry information......Page 243
How Gazebo creates the odometry......Page 244
Creating our own odometry......Page 247
Creating a base controller......Page 251
Using Gazebo to create the odometry......Page 253
Creating our base controller......Page 255
Creating a map with ROS......Page 258
Saving the map using map_server......Page 260
Loading the map using map_server......Page 261
Summary......Page 262
Chapters 8: Navigation Stack – Beyond Setups......Page 264
Creating a robot configuration......Page 265
Configuring the common parameters......Page 268
Configuring the local costmap......Page 270
Base local planner configuration......Page 271
Creating a launch file for the navigation stack......Page 272
Setting up rviz for the navigation stack......Page 273
2D pose estimate......Page 274
Static map......Page 275
Particle cloud......Page 276
Robot footprint......Page 277
Obstacles......Page 278
Global plan......Page 279
Local plan......Page 280
Current goal......Page 281
Adaptive Monte Carlo Localization (AMCL)......Page 283
Avoiding obstacles......Page 285
Sending goals......Page 286
Summary......Page 290
Chapters 9: Combining Everything – Learn by Doing......Page 292
REEM – the humanoid of PAL Robotics......Page 293
Installing REEM from the official repository......Page 295
Running REEM using the Gazebo simulator......Page 299
PR2 – the Willow Garage robot......Page 301
Running PR2 in simulation......Page 302
Localization and mapping......Page 306
Running the demos of the PR2 simulator......Page 309
Installing the Robonaut 2 from the sources......Page 310
Running Robonaut 2 in the ISS fixed pedestal......Page 311
Controlling the robot easily with interactive markers......Page 312
Giving legs to Robonaut 2......Page 314
Loading the ISS environment......Page 315
Husky – the rover of Clearpath Robotics......Page 316
Running Husky on simulation......Page 317
Installing the TurtleBot simulation......Page 319
Summary......Page 320
Index......Page 322