Mastering ROS for Robotics Programming

The book begins by helping you get to grips with the basic concepts necessary for programming robots with ROS. You'll then discover how to develop a robot simulation, as well as an actual robot, and understand how to apply high-level capabilities such as navigation and manipulation from scratch.

Mastering ROS for Robotics Programming

Lentin Joseph

Paktv

2021

Abstract

The Robot Operating System (ROS) is a software framework used for programming complex robots. ROS enables you to develop software for building complex robots without writing code from scratch, saving valuable development time. Mastering ROS for Robotics Programming provides complete coverage of the advanced concepts using easy-to-understand, practical examples and step-by-step explanations of essential concepts that you can apply to your ROS robotics projects.

The book begins by helping you get to grips with the basic concepts necessary for programming robots with ROS. You'll then discover how to develop a robot simulation, as well as an actual robot, and understand how to apply high-level capabilities such as navigation and manipulation from scratch. As you advance, you'll learn how to create ROS controllers and plugins and explore ROS's industrial applications and how it interacts with aerial robots. Finally, you'll discover best practices and methods for working with ROS efficiently.

By the end of this ROS book, you'll have learned how to create various applications in ROS and build your first ROS robot.

What you will learn
Create a robot model with a 7-DOF robotic arm and a differential wheeled mobile robot
Work with Gazebo, CoppeliaSim, and Webots robotic simulators
Implement autonomous navigation in differential drive robots using SLAM and AMCL packages
Interact with and simulate aerial robots using ROS
Explore ROS pluginlib, ROS nodelets, and Gazebo plugins
Interface I/O boards such as Arduino, robot sensors, and high-end actuators
Simulate and perform motion planning for an ABB robot and a universal arm using ROS-Industrial
Work with the motion planning features of a 7-DOF arm using MoveIt

If you are a robotics graduate, robotics researcher, or robotics software professional looking to work with ROS, this book is for you. Programmers who want to explore the advanced features of ROS will also find this book useful. Basic knowledge of ROS, GNU/Linux, and C++ programming concepts is necessary to get started with this book.

Table of Contents

  • Introduction to ROS
  • Getting started with ROS Programming
  • Working with ROS for 3D modelling
  • Simulating Robots Using ROS and Gazebo
  • Simulating Robots using ROS and Coppeliasim and Webot
  • Using the ROS MoveIt! and Navigation Stack On
  • Exploring the Advanced Capabilities of ROS-MoveIt!
  • ROS for Aerial Robots
  • Interfacing I/O boards Sensors and Actuators to ROS
  • Programming Vision Sensors Using ROS, OpenCV, and PCL
  • Building and Interfacing Differential Drive Mobile robot Hardware in ROS
  • Working with pluginlib Nodelet, and Gazebo Plugins
  • Writing ROS Controllers and Visualization Plugins
  • Using ROS in Matlab and Simulink
  • ROS for Industrial Robots
  • Troubleshooting and Best Practices

Citation

Lentin Joseph,Mastering ROS for Robotics Programming, Paktv, 2021

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