Mastering ROS for Robotics Programming: Design, Build, and Simulate Comples Robots Using Robot Operating System and Master Its Out-of-the-box Functionalities

Joseph, Lentin

ISBN 10: 1783551798 / ISBN 13: 9781783551798

Edité par Packt Pub Ltd, 2015

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Titre : Mastering ROS for Robotics Programming: ...

Éditeur : Packt Pub Ltd

Date d'édition : 2015

Reliure : Couverture souple

Etat : New

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Présentation de l'éditeur:

Design, build and simulate complex robots using Robot Operating System and master its out-of-the-box functionalities

Key Features

• Develop complex robotic applications using ROS for interfacing robot manipulators and mobile robots with the help of high end robotic sensors
• Gain insights into autonomous navigation in mobile robot and motion planning in robot manipulators
• Discover the best practices and troubleshooting solutions everyone needs when working on ROS

Book Description

The area of robotics is gaining huge momentum among corporate people, researchers, hobbyists, and students. The major challenge in robotics is its controlling software. The Robot Operating System (ROS) is a modular software platform to develop generic robotic applications.

This book discusses the advanced concepts in robotics and how to program using ROS. It starts with deep overview of the ROS framework, which will give you a clear idea of how ROS really works. During the course of the book, you will learn how to build models of complex robots, and simulate and interface the robot using the ROS MoveIt motion planning library and ROS navigation stacks.

After discussing robot manipulation and navigation in robots, you will get to grips with the interfacing I/O boards, sensors, and actuators of ROS. One of the essential ingredients of robots are vision sensors, and an entire chapter is dedicated to the vision sensor, its interfacing in ROS, and its programming.

You will discuss the hardware interfacing and simulation of complex robot to ROS and ROS Industrial (Package used for interfacing industrial robots).

Finally, you will get to know the best practices to follow when programming using ROS.

What you will learn

• Create a robot model of a Seven-DOF robotic arm and a differential wheeled mobile robot
• Work with motion planning of a Seven-DOF arm using MoveIt!
• Implement autonomous navigation in differential drive robots using SLAM and AMCL packages in ROS
• Dig deep into the ROS Pluginlib, ROS nodelets, and Gazebo plugins
• Interface I/O boards such as Arduino, Robot sensors, and High end actuators with ROS
• Simulation and motion planning of ABB and Universal arm using ROS Industrial
• Explore the ROS framework using its latest version

Table of Contents

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