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

✍ Scribed by Lentin Joseph; Jonathan Cacace

• Publisher: Packt Publishing
• Year: 2018
• Tongue: English
• Leaves: 570
• Edition: 2
• Category: Library

✦ Synopsis

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.

What You Will Learn
Create a robot model with a seven-DOF robotic arm and a differential wheeled mobile robot
Work with Gazebo and V-REP robotic simulator
Implement autonomous navigation in differential drive robots using SLAM and AMCL packages
Explore the ROS Pluginlib, ROS nodelets, and Gazebo plugins
Interface I/O boards such as Arduino, robot sensors, and high-end actuators
Simulate and motion plan an ABB and universal arm using ROS Industrial
Explore the latest version of the ROS framework
Work with the motion planning of a seven-DOF arm using MoveIt!

✦ Table of Contents

1: Introduction to ROS
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, and PCL
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

✦ Subjects

ROS;Robot Operating System;Robotics