book

ROS Robotics By Example - Second Edition

by Lentin Joseph, Carol Fairchild, Dr. Thomas L. Harman

November 2017

Beginner

484 pages

10h 25m

English

Packt Publishing

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What this book covers

Downloading the example codeDownloading the color images of this bookErrataPiracyQuestions
What does ROS do and what are the benefits of learning ROS?Who controls ROS?
Configuring your Ubuntu repositoriesSetting up your sources.list fileSetting up your keysInstalling ROS KineticInitialize rosdepEnvironment setupGetting rosinstallTroubleshooting – examining your ROS environment
ROS manifestExploring the ROS packagesrospack find packagesrospack list
ROS nodesROS topicsROS messagesROS MasterInvoking the ROS Master using roscoreParameter ServerROS commands to determine the nodes and topics
Starting turtlesim nodesrosrun commandTurtlesim nodesTurtlesim topics and messagesrostopic listrostopic typerosmsg listrosmsg showrostopic echoMove the turtle by publishing /turtle1/cmd_velMove the turtle using the keyboard or joystickParameter Server of Turtlesimrosparam helprosparam list for the /turtlesim nodeChange parameters for the color of the turtle's backgroundrosparam getrosparam setROS services to move turtlerosservice call
Introducing rvizInstalling and launching rvizGetting familiar with rvizDisplays panelViews and Time panelsMouse controlToolbarMain window menu bar
Creating a robot chassisUsing roslaunchAdding wheelsAdding a casterAdding colorAdding collisionsMoving the wheelsA word about tf and robot_state_publisherAdding physical propertiesTrying URDF toolscheck_urdfurdf_to_graphiz
Installing and launching GazeboUsing roslaunch with GazeboGetting familiar with GazeboEnvironment toolbarWorld, Insert and Layers panelsJoints panelMain window menu barSimulation panelModifications to the robot URDFAdding the Gazebo tagSpecifying color in GazeboA word about the <visual> and <collision> elements in GazeboVerifying a Gazebo modelViewing the URDF in GazeboTweaking your modelMoving your model aroundOther ROS simulation environments
Introducing TurtleBot 2
Problems and troubleshootingROS commands and GazeboKeyboard teleoperation of TurtleBot 2 in simulation
TurtleBot 2 standalone test
Types of networksNetwork addressesRemote computer network setupNetbook network setupSecure Shell (SSH) connectionSummary of network setupTroubleshooting your network connectionTesting the TurtleBot 2 system
TurtleBot 2 dashboard
Using keyboard teleoperation to move TurtleBot 2Using ROS commands to move TurtleBot 2 aroundWriting your first Python script to control TurtleBot 2
rqt_graphrqt message publisher and topic monitor
Odom for the simulated TurtleBot 2Real TurtleBot 2's odometry display in rviz
Installing remote computer softwareInstalling SBC softwareLoading Ubuntu MATELoading ROS packagesLoading TurtleBot 3 packagesSetting up udev rules for TurtleBot 3
Remote computer network setupTurtleBot 3 network setupSSH connectionTesting the SSH communicationTroubleshooting your network connection
Using keyboard teleoperation to move TurtleBot 3
3D vision systems for TurtleBotHow these 3D vision sensors workComparison of 3D sensorsMicrosoft KinectASUSPrimeSense CarmineIntel RealSenseHitachi-LG LDSObstacle avoidance drawbacks
KinectASUS and PrimeSenseIntel RealSenseCamera software structureDefining terms
Visual data using Image ViewerVisual data using rviz
Mapping a room with TurtleBot 2Defining termsBuilding a mapHow does TurtleBot accomplish this mapping task?Autonomous navigation with TurtleBot 2Defining termsDriving without steering TurtleBot 2rviz controlHow does TurtleBot accomplish this navigation task?Navigating to a designated locationNavigating to waypoints with a Python script using a mapDefining TurtleBot's position on a mapDefining waypoints on a mapUsing Python code to move TurtleBotTurtleBot at final goal pointSLAM for TurtleBot 3Autonomous navigation with TurtleBot 3rqt_reconfigureExploring ROS navigation further
Features of Xacro
Specifying a namespaceUsing the Xacro property tagExpanding XacroUsing roslaunch for rrbotUsing the Xacro include and macro tagsAdding mesh to the robot arm
Adding Gazebo-specific elementsFixing the robot arm to the worldViewing the robot arm in GazeboAdding controls to XacroDefining transmission elements for jointsAdding a Gazebo ROS control pluginCreating a YAML configuration fileCreating a control launch fileControlling your robot arm with the ROS command lineControlling your robot arm with rqtTrying more things in rqt
Introducing BaxterBaxter, the research robotBaxter Simulator
Baxter's bend jointsBaxter's twist jointsBaxter's coordinate frameControl modes for Baxter's armsBaxter's grippersBaxter's arm sensors
Installing Baxter SDK softwareInstalling Baxter SimulatorConfiguring the Baxter shellInstalling MoveIt!
Bringing Baxter Simulator to lifeWarm-up exercisesFlexing Baxter's armsUntucking Baxter's armsWobbling armsControlling arms and grippers with a keyboardControlling arms and grippers with a joystickControlling arms with a Python scriptRecording and replaying arm movements
Joints and joint state publisherUnderstanding tfA program to move Baxter's arms to a zero angle positionCommanding the joint angles directlyrviz tf framesViewing a tf tree of robot elements
Planning a move of Baxter's arms with MoveIt!Adding objects to a scenePosition of objectsPlanning a move to avoid obstacles with MoveIt!
Commanding joint position waypointsCommanding joint torque springsDemonstrating joint velocityAdditional examplesVisual servoing and grasping
Moving Baxter's arms with IK
Introducing quadrotorsWhy are quadrotors so popular?Defining roll, pitch, and yawHow do quadrotors fly?Components of a quadrotorAdding sensorsQuadrotor communications
Inertial measurement unitQuadrotor condition sensors
Testing your quadrotorPre-flight checklistPrecautions when flying your quadrotorFollowing the rules and regulations
Loading Hector QuadrotorLaunching Hector Quadrotor in GazeboFlying Hector outdoorsFlying Hector indoors
Controlling Crazyflie without ROSCommunicating using Crazyradio PALoading Crazyflie ROS softwareSetting up udev rules for CrazyradioPre-flight checkFlying Crazyflie with teleopDetails of teleop_xbox360.launchFlying with a motion capture systemFlying multiple Crazyflies
Loading bebop_autonomy softwareTesting Bebop communicationsFlying Bebop using commandsTake offLanding
Creating a custom ROS game controller interfaceTesting a game controllerAlternative test of a game controllerUsing the ROS joy packageControlling Turtlesim with a custom game controller interface
Installing Android Studio and toolsInstalling a ROS–Android development environmentDefining termsIntroducing ROS–Android development
Using ArduinoInstalling Arduino IDE softwareInstalling ROS–Arduino softwareUltrasonic sensor control using ROS and ArduinoConnecting the Arduino to the HC-SR04 ultrasonic sensorProgramming the Arduino to sense distanceExecuting the ultrasonic sensor programOther applications using ROS and ArduinoUsing Raspberry PiInstalling ROS on the Raspberry Pi
Mission componentsKinect for Windows v2Crazyflie operationMission software structureOpenCV and ROS
Installing libfreenect2Installing iai_kinect2Using the iai_kinect2 metapackagekinect2_bridge and kinect2_viewerkinect2_calibrationCalibrating your Kinect
Detecting Crazyflie and a targetIdentifying markers in a color imageProblems with target detectionDetecting and viewing markers with OpenCVUsing Kinect and OpenCVHow to track Crazyflie
Crazyflie control statesUsing ROS services to control takeoff and landActivating takeoff and landWhat makes takeoff and land work?Using PID control for hover and flightUsing an observer node
Hovering in placeWhat makes hover work?Flying to a stationary targetWhat makes target detection work?Learned lessonsLogging messages with rosout and rospy
Installing the MATLAB Robotics System ToolboxCheck the MATLAB and Robotics System Toolbox versionsView the Robotics System Toolbox commands for ROS
Installing Baxter messages in MATLABRunning Baxter Simulator and MATLABMaking Baxter move

Content preview from ROS Robotics By Example - Second Edition

Introducing MoveIt!

One of the challenging aspects of robotics is defining a path for the motion of a robot's arms to grasp an object, especially when obstacles may obstruct the most obvious path of motion. Fortunately, a ROS package called MoveIt! allows us to plan and execute a complicated trajectory.

A video created by Rethink Robotics shows how to use MoveIt! to plan the motion of Baxter's arms and then have MoveIt! actually cause a real or simulated Baxter to execute that motion. To see the video, go to: https://www.youtube.com/watch?feature=player_detailpage&v=1Zdkwym42P4.

A tutorial is available on the Rethink wiki site at http://sdk.rethinkrobotics.com/wiki/MoveIt_Tutorial.

First, start the Baxter simulator in Gazebo: