Mastering ROS for Robotics Programming by Lentin Joseph

By Lentin Joseph

Layout, construct and simulate advanced robots utilizing robotic working process and grasp its out-of-the-box functionalities
About This Book

increase complicated robot purposes utilizing ROS for interfacing robotic manipulators and cellular robots with the aid of excessive finish robot sensors
achieve insights into self reliant navigation in cellular robotic and movement making plans in robotic manipulators
detect the simplest practices and troubleshooting strategies every body wishes whilst engaged on ROS

Who This e-book Is For

If you're a robotics fanatic or researcher who desires to examine extra approximately construction robotic purposes utilizing ROS, this booklet is for you. with a view to research from this publication, you'll have a uncomplicated wisdom of ROS, GNU/Linux, and C++ programming innovations. The booklet may also be stable for programmers who are looking to discover the complicated good points of ROS.
What you'll Learn

Create a robotic version of a Seven-DOF robot arm and a differential wheeled cellular robot
paintings with movement making plans of a Seven-DOF arm utilizing MoveIt!
enforce independent navigation in differential force robots utilizing SLAM and AMCL applications in ROS
Dig deep into the ROS Pluginlib, ROS nodelets, and Gazebo plugins
Interface I/O forums reminiscent of Arduino, robotic sensors, and excessive finish actuators with ROS
Simulation and movement making plans of ABB and common arm utilizing ROS Industrial
discover the ROS framework utilizing its newest version

In Detail

The zone of robotics is gaining large momentum between company humans, researchers, hobbyists, and scholars. the main problem in robotics is its controlling software program. The robotic working process (ROS) is a modular software program platform to improve customary robot applications.

This publication discusses the complicated techniques in robotics and the way to software utilizing ROS. It starts off with deep evaluation of the ROS framework, on the way to offer you a transparent concept of ways ROS fairly works. throughout the process the publication, you are going to methods to construct types of advanced robots, and simulate and interface the robotic utilizing the ROS MoveIt movement making plans library and ROS navigation stacks.

After discussing robotic manipulation and navigation in robots, you'll get to grips with the interfacing I/O forums, sensors, and actuators of ROS. one of many crucial constituents of robots are imaginative and prescient sensors, and a whole bankruptcy is devoted to the imaginative and prescient sensor, its interfacing in ROS, and its programming.

You will talk about the interfacing and simulation of complicated robotic to ROS and ROS business (Package used for interfacing business robots).

Finally, you'll get to grasp the simplest practices to persist with while programming utilizing ROS.

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Example text

Packages are the atomic build item and release item in the ROS software. • Package manifest: The package manifest file is inside a package that contains information about the package, author, license, dependencies, compilation flags, and so on. xml file inside the ROS package is the manifest file of that package. • Meta packages: The term meta package is used for a group of packages for a special purpose. In an older version of ROS such as Electric and Fuerte, it was called stacks, but later it was removed, as simplicity and meta packages came to existence.

The command roscore is a prerequisite before running any ROS node. The following screenshot shows the messages printing when we run the roscore command in a terminal. ros/log folder for collecting logs from ROS nodes. This file can be used for debugging purposes. • In the second section, the command starts a ROS launch file called roscore. xml. When a launch file starts, it automatically starts the rosmaster and ROS parameter server. The roslaunch command is a Python script, which can start rosmaster and the ROS parameter server whenever it tries to execute a launch file.

Advertise("/numbers",10); This will create a topic publisher and name the topic /numbers with a message type std_msgs::Int32. The second argument is the buffer size. It indicates that how many messages need to be put in a buffer before sending. It should be set to high if the data sending rate is high: ros::Rate loop_rate(10); This is used to set the frequency of sending data: while (ros::ok()) { This is an infinite while loop, and it quits when we press Ctrl+C. data = number_count; The first line creates an integer ROS message and the second line assigns an integer value to the message.

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