Name: Mastering ROS for Robotics Programming
Author: Lentin Joseph
ISBN: 9781785282997

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Mastering ROS for Robotics Programming

Lentin Joseph

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Credits
About the Author
About the Reviewers
www.PacktPub.com
Support files, eBooks, discount offers, and more
Preface
What this book covers
What you need for this book
Who this book is for
Conventions
Reader feedback
Customer support
Chapter 1. Introduction to ROS and Its Package Management
Why should we learn ROS?
Why we prefer ROS for robots
Why some do not prefer ROS for robots
Understanding the ROS file system level
Understanding the ROS computation graph level
Understanding ROS community level
Questions
Summary
Chapter 2. Working with 3D Robot Modeling in ROS
ROS packages for robot modeling
Understanding robot modeling using URDF
Creating the ROS package for the robot description
Creating our first URDF model
Explaining the URDF file
Visualizing the robot 3D model in RViz
Adding physical and collision properties to a URDF model
Understanding robot modeling using xacro
Conversion of xacro to URDF
Creating the robot description for a seven DOF robot manipulator
Explaining the xacro model of seven DOF arm
Creating a robot model for the differential drive mobile robot
Questions
Summary
Chapter 3. Simulating Robots Using ROS and Gazebo
Simulating the robotic arm using Gazebo and ROS
Questions
Summary
Chapter 4. Using the ROS MoveIt! and Navigation Stack
Installing MoveIt!
Generating MoveIt! configuration package using Setup Assistant tool
Step 1 – Launching the Setup Assistant tool
Motion planning of robot in RViz using MoveIt! configuration package
Understanding ROS Navigation stack
Building a map using SLAM
Questions
Summary
Chapter 5. Working with Pluginlib, Nodelets, and Gazebo Plugins
Understanding pluginlib
Understanding the Gazebo plugins
Questions
Summary
Chapter 6. Writing ROS Controllers and Visualization Plugins
Understanding pr2_mechanism packages
Writing a basic real-time joint controller in ROS
Understanding ros_control packages
Understanding ROS visualization tool (RViz) and its plugins
Writing a RViz plugin for teleoperation
Questions
Summary
Chapter 7. Interfacing I/O Boards, Sensors, and Actuators to ROS
Understanding the Arduino–ROS interface
What is the Arduino–ROS interface?
Interfacing Dynamixel actuators to ROS
Questions
Summary
Chapter 8. Programming Vision Sensors using ROS, Open-CV, and PCL
Understanding ROS – OpenCV interfacing packages
Understanding ROS – PCL interfacing packages
Interfacing USB webcams in ROS
Working with ROS camera calibration
Interfacing Kinect and Asus Xtion Pro in ROS
Interfacing Intel Real Sense camera with ROS
Interfacing Hokuyo Laser in ROS
Interfacing Velodyne LIDAR in ROS
Working with point cloud data
Streaming webcam from Odroid using ROS
Questions
Summary
Chapter 9. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
Introduction to Chefbot- a DIY mobile robot and its hardware configuration
Questions
Summary
Chapter 10. Exploring the Advanced Capabilities of ROS-MoveIt!
Motion planning using the move_group C++ interface
Collision checking in robot arm using MoveIt!
Working with perception using MoveIt! and Gazebo
Grasping using MoveIt!
Working with robot pick and place task using MoveIt!
Pick and place action in Gazebo and real Robot
Understanding Dynamixel ROS Servo controllers for robot hardware interfacing
Interfacing seven DOF Dynamixel based robotic arm to ROS MoveIt!
Questions
Summary
Chapter 11. ROS for Industrial Robots
Understanding ROS-Industrial packages
Installing ROS-Industrial packages
Block diagram of ROS-Industrial packages
Creating URDF for an industrial robot
Creating MoveIt! configuration for an industrial robot
Installing ROS-Industrial packages of universal robotic arm
Understanding the Moveit! configuration of a universal robotic arm
Working with MoveIt! configuration of ABB robots
Understanding the ROS-Industrial robot support packages
ROS-Industrial robot client package
ROS-Industrial robot driver package
Understanding MoveIt! IKFast plugin
Creating the MoveIt! IKFast plugin for the ABB-IRB6640 robot
Creating the COLLADA file of a robot to work with OpenRave
Generating the IKFast CPP file for the IRB 6640 robot
Questions
Summary
Chapter 12. Troubleshooting and Best Practices in ROS
Setting up Eclipse IDE on Ubuntu 14.04.3
Setting ROS development environment in Eclipse IDE
Best practices in ROS
Best practices in the ROS package
Important troubleshooting tips in ROS
Questions
Summary
Index

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Mastering ROS for Robotics Programming