Table Of Content

Effective Robotics Programming with ROS Third Edition Table of Contents Effective Robotics Programming with ROS Third Edition Credits About the Authors About the Reviewer www.PacktPub.com eBooks, discount offers, and more Why subscribe? Customer Feedback Preface What this book covers What you need for this book Who this book is for Conventions Reader feedback Customer support Downloading the example code Downloading the color images of this book Errata Piracy Questions 1. Getting Started with ROS PC installation Installing ROS Kinetic using repositories Configuring your Ubuntu repositories Setting up your source.list file Setting up your keys Installing ROS Initializing rosdep Setting up the environment Getting rosinstall How to install VirtualBox and Ubuntu Downloading VirtualBox Creating the virtual machine Using ROS from a Docker image Installing Docker Getting and using ROS Docker images and containers Installing ROS in BeagleBone Black Prerequisites Setting up the local machine and source.list file Setting up your keys Installing the ROS packages Initializing rosdep for ROS Setting up the environment in the BeagleBone Black Getting rosinstall for BeagleBone Black Basic ROS example on the BeagleBone Black Summary 2. ROS Architecture and Concepts Understanding the ROS Filesystem level The workspace Packages Metapackages Messages Services Understanding the ROS Computation Graph level Nodes and nodelets Topics Services Messages Bags The ROS master Parameter Server Understanding the ROS Community level Tutorials to practise with ROS Navigating through the ROS filesystem Creating our own workspace Creating an ROS package and metapackage Building an ROS package Playing with ROS nodes Learning how to interact with topics Learning how to use services Using Parameter Server Creating nodes Building the node Creating msg and srv files Using the new srv and msg files The launch file Dynamic parameters Summary 3. Visualization and Debugging Tools Debugging ROS nodes Using the GDB debugger with ROS nodes Attaching a node to GDB while launching ROS Profiling a node with valgrind while launching ROS Enabling core dumps for ROS nodes Logging messages Outputting logging messages Setting the debug message level Configuring the debugging level of a particular node Giving names to messages Conditional and filtered messages Showing messages once, throttling, and other combinations Using rqt_console and rqt_logger_level to modify the logging level on the fly Inspecting the system Inspecting the node's graph online with rqt_graph Setting dynamic parameters Dealing with the unexpected Visualizing nodes diagnostics Plotting scalar data Creating a time series plot with rqt_plot Image visualization Visualizing a single image 3D visualization Visualizing data in a 3D world using rqt_rviz The relationship between topics and frames Visualizing frame transformations Saving and playing back data What is a bag file? Recording data in a bag file with rosbag Playing back a bag file Inspecting all the topics and messages in a bag file Using the rqt_gui and rqt plugins Summary 4. 3D Modeling and Simulation A 3D model of our robot in ROS Creating our first URDF file Explaining the file format Watching the 3D model on rviz Loading meshes to our models Making our robot model movable Physical and collision properties Xacro – a better way to write our robot models Using constants Using math Using macros Moving the robot with code 3D modeling with SketchUp Simulation in ROS Using our URDF 3D model in Gazebo Adding sensors to Gazebo Loading and using a map in Gazebo Moving the robot in Gazebo Summary 5. The Navigation Stack – Robot Setups The navigation stack in ROS Creating transforms Creating a broadcaster Creating a listener Watching the transformation tree Publishing sensor information Creating the laser node Publishing odometry information How Gazebo creates the odometry Using Gazebo to create the odometry Creating our own odometry Creating a base controller Creating our base controller Creating a map with ROS Saving the map using map_server Loading the map using map_server Summary 6. The Navigation Stack – Beyond Setups Creating a package Creating a robot configuration Configuring the costmaps – global_costmap and local_costmap Configuring the common parameters Configuring the global costmap Configuring the local costmap Base local planner configuration Creating a launch file for the navigation stack Setting up rviz for the navigation stack The 2D pose estimate The 2D nav goal The static map The particle cloud The robot's footprint The local costmap The global costmap The global plan The local plan The planner plan The current goal Adaptive Monte Carlo Localization Modifying parameters with rqt_reconfigure Avoiding obstacles Sending goals Summary 7. Manipulation with MoveIt! The MoveIt! architecture Motion planning The planning scene World geometry monitor Kinematics Collision checking Integrating an arm in MoveIt! What's in the box? Generating a MoveIt! package with the Setup Assistant Integration into RViz Integration into Gazebo or a real robotic arm Simple motion planning Planning a single goal Planning a random target Planning a predefined group state Displaying the target motion Motion planning with collisions Adding objects to the planning scene Removing objects from the planning scene Motion planning with point clouds The pick and place task The planning scene The target object to grasp The support surface Perception Grasping The pickup action The place action The demo mode Simulation in Gazebo Summary 8. Using Sensors and Actuators with ROS Using a joystick or a gamepad How does joy_node send joystick movements? Using joystick data to move our robot model Using Arduino to add sensors and actuators Creating an example program to use Arduino Robot platform controlled by ROS and Arduino Connecting your robot motors to ROS using Arduino Connecting encoders to your robot Controlling the wheel velocity Using a low-cost IMU – 9 degrees of freedom Installing Razor IMU ROS library How does Razor send data in ROS? Creating an ROS node to use data from the 9DoF sensor in our robot Using robot localization to fuse sensor data in your robot Using the IMU – Xsens MTi How does Xsens send data in ROS? Using a GPS system How GPS sends messages Creating an example project to use GPS Using a laser rangefinder – Hokuyo URG-04lx Understanding how the laser sends data in ROS Accessing the laser data and modifying it Creating a launch file Using the Kinect sensor to view objects in 3D How does Kinect send data from the sensors, and how do we see it? Creating an example to use Kinect Using servomotors – Dynamixel How does Dynamixel send and receive commands for the movements? Creating an example to use the servomotor Summary 9. Computer Vision ROS camera drivers support FireWire IEEE1394 cameras USB cameras Making your own USB camera driver with OpenCV ROS images Publishing images with ImageTransport OpenCV in ROS Installing OpenCV 3.0 Using OpenCV in ROS Visualizing the camera input images with rqt_image_view Camera calibration How to calibrate a camera Stereo calibration The ROS image pipeline Image pipeline for stereo cameras ROS packages useful for Computer Vision tasks Visual odometry Using visual odometry with viso2 Camera pose calibration Running the viso2 online demo Performing visual odometry with viso2 with a stereo camera Performing visual odometry with an RGBD camera Installing fovis Using fovis with the Kinect RGBD camera Computing the homography of two images Summary 10. Point Clouds Understanding the Point Cloud Library Different point cloud types Algorithms in PCL The PCL interface for ROS My first PCL program Creating point clouds Loading and saving point clouds to the disk Visualizing point clouds Filtering and downsampling Registration and matching Partitioning point clouds Segmentation Summary Index Effective Robotics Programming with ROS Third Edition