Mastering ROS for Robotics Programming: Design, build, and simulate complex robots using the Robot Operating System

by Lentin Joseph, Jonathan Cacace

Overview

In this day and age, robotics has been gaining a lot of traction in various industries where consistency and perfection matter. Automation is achieved via robotic applications and various platforms that support robotics. The Robot Operating System (ROS) is a modular software platform to develop generic robotic applications. This book focuses on the most stable release of ROS (Kinetic Kame), discusses advanced concepts, and effectively teaches you programming using ROS.
We begin with aninformative overview of the ROS framework, which will give you a clear idea of how ROS works. During the course of this book, you’ll learn to build models of complex robots, and simulate and interface the robot using the ROS MoveIt! motion planning library and ROS navigation stacks. Learn to leverage several ROS packages to embrace your robot models.
After covering robot manipulation and navigation, you’ll get to grips with the interfacing I/O boards, sensors, and actuators of ROS. Vision sensors are a key component of robots, and an entire chapter is dedicated to the vision sensor and image elaboration, its interface in ROS and programming. You’ll also understand the hardware interface and simulation of complex robots to ROS and ROS Industrial.

At the end of this book, you’ll discover the best practices to follow when programming using ROS.

Product Details

ISBN-13:	9781788474528
Publisher:	Packt Publishing
Publication date:	02/26/2018
Sold by:	Barnes & Noble
Format:	eBook
Pages:	580
File size:	44 MB
Note:	This product may take a few minutes to download.

About the Author

Lentin Joseph is the Co-Founder of RUNTIME Robotics. He brings over 14 years of experience in Robotics Software Development, specializing in ROS 1 and 2. He has authored and reviewed over 10 books on ROS, computer vision, and embedded systems. Lentin holds a master's in Robotics and Automation from Amrita University, Kerala, and a bachelor's degree in Electronics and Communication Engineering from FISAT Engineering College, Kerala. His passion for teaching Robotics and ROS has also led him to share his insights as a TEDx Speaker.
Jonathan is an experienced and enthusiastic robotic software developer. He has over 10 years of experience in different robotic fields, from mobile robotics (aerial and ground) to industrial and advanced manipulation. His background is in computer science. After university studies, he got a PhD in robotics from the University of Naples Federico II, where he could participate in various research and industrial projects in different robotics fields. Currently, he is a researcher at Eurecat, the technology center of Catalonia.

Table of Contents

Table of Contents

1. Introduction to ROS and Its Package Management
2. Getting started with ROS programming
3. Working with 3D Robot Modeling in ROS
4. Simulating Robots Using ROS and Gazebo
5. Simulating Robots Using ROS and V-REP
6. Using the ROS MoveIt! And Navigation Stack
7. Working with Pluginlib, Nodelets, and Gazebo Plugins
8. Writing ROS Controllers and Visualization Plugins
9. Interfacing I/O Boards, Sensors, and Actuators to ROS
10. Programming Vision Sensors using ROS, Open-CV, PCL and AR Marker Tracking
11. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
12. Exploring the Advanced Capabilities of ROS-MoveIt!
13. Using ROS in Matlab and Simulink
14. ROS for Industrial Robots
15. Troubleshooting and Best Practices in ROS