Robot Operating System (ROS): The Complete Reference (Volume 2)

652 Pages·2017·27.53 MB·English

by  Anis Koubaa (eds.)

Studies in Computational Intelligence 707
Anis Koubaa E ditor
Robot
Operating
System (ROS)
The Complete Reference (Volume 2)
Studies in Computational Intelligence
Volume 707
Series editor
Janusz Kacprzyk, Polish Academy of Sciences, Warsaw, Poland
e-mail: [e-mail]
About this Series
The series “Studies in Computational Intelligence” (SCI) publishes new develop-
mentsandadvancesinthevariousareasofcomputationalintelligence—quicklyand
with a high quality. The intent is to cover the theory, applications, and design
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computational intelligence spanning the areas of neural networks, connectionist
systems, genetic algorithms, evolutionary computation, artificial intelligence,
cellular automata, self-organizing systems, soft computing, fuzzy systems, and
hybrid intelligent systems. Of particular value to both the contributors and the
readership are the short publication timeframe and the worldwide distribution,
which enable both wide and rapid dissemination of research output.
More information about this series at http://www.springer.com/series/7092
Anis Koubaa
Editor
Robot Operating System
(ROS)
The Complete Reference (Volume 2)
Unmanned Aerial Vehicles (UAVs) with
Special focus on
ROS
123
Editor
AnisKoubaa
PrinceSultan University
Riyadh
SaudiArabia
and
CISTER Research Unit
Porto
Portugal
and
Gaitech Robotics
Hong Kong
China
ISSN 1860-949X ISSN 1860-9503 (electronic)
Studies in Computational Intelligence
ISBN978-3-319-54926-2 ISBN978-3-319-54927-9 (eBook)
DOI 10.1007/978-3-319-54927-9
LibraryofCongressControlNumber:2017933861
©SpringerInternationalPublishingAG2017
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of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
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Acknowledgements
The Editor would like to thank the Robotics and Internet of Things (RIoT) Unit at
Center of Excellence of Prince Sultan University for their support to this work.
Furthermore, the Editor thanks Gaitech Robotics in China for their support.
v
Acknowledgements to Reviewers
TheEditorwouldliketothankthefollowingreviewersfortheirgreatcontributions
in the review process of the book by providing a quality feedback to authors.
Anis Koubâa PrinceSultanUniversity,SaudiArabia/CISTER
ResearchUnit,Portugal
Francisco Grau CATEC(CenterforAdvancedAerospace
Technologies)
Michael Carroll RoboticParadigmSystems
Bence Magyar PALRobotics
Maram Alajlan Al-ImamMohamedbinSaudUniversity
Marc Morenza-Cinos UPF
Andre Oliveira UTFPR
Marco Wehrmeister FederalUniversityofTechnology–Parana
Walter FetterLages UniversidadeFederaldoRioGrandedoSul
Péter Fankhauser ETHZurich
Christoph Rösmann InstituteofControlTheoryandSystemsEngineering,
TUDortmundUniversity
Francesco Rovida AalborgUniversityofCopenhagen
Christopher-Eyk Hrabia TechnischeUniversität/DAILabor
Guilherme SousaBastos UNIFEI
Andreas Bihlmaier KarlsruheInstituteofTechnologie(KIT)
Juan Jimeno linorobot.org
Timo Röhling FraunhoferFKIE
Zavier Lee HenanUniversityofScienceandTechnology
Myrel Alsayegh RST-TUDortmund
Junhao Xiao NationalUniversityofDefenseTechnology
Huimin Lu NationalUniversityofDefenseTechnology
Alfredo Soto FreescaleSemiconductors
Dinesh Madusanke UniversityofMoratuwa
(continued)
vii
viii AcknowledgementstoReviewers
(continued)
Roberto Guzman Robotnik
Ingo Lütkebohle RobertBoschGmbH
Brad Bazemore UniversityofGeorgia
Yasir Javed PrinceSultanUniversity,SaudiArabia
Mohamed-Foued Sriti Al-ImamMuhammadIbnSaudIslamicUniversity
Murilo Martins CentroUniversitariodaFEI
Contents
Part I Control of UAVs
Model Predictive Control for Trajectory Tracking
of Unmanned Aerial Vehicles Using Robot Operating System..... .... 3
Mina Kamel, Thomas Stastny, Kostas Alexis and Roland Siegwart
Designing Fuzzy Logic Controllers for ROS-Based Multirotors ... .... 41
Emanoel Koslosky, André Schneider de Oliveira,
Marco Aurélio Wehrmeister and João Alberto Fabro
Flying Multiple UAVs Using ROS.. .... .... .... .... .... ..... .... 83
Wolfgang Hönig and Nora Ayanian
Part II Control of Mobile Robots
SkiROS—A Skill-Based Robot Control Platform on Top
of ROS... .... .... .... .... ..... .... .... .... .... .... ..... .... 121
Francesco Rovida, Matthew Crosby, Dirk Holz,
Athanasios S. Polydoros, Bjarne Großmann,
Ronald P.A. Petrick and Volker Krüger
Control of Mobile Robots Using ActionLib... .... .... .... ..... .... 161
Higor Barbosa Santos, Marco Antônio Simões Teixeira,
André Schneider de Oliveira, Lúcia Valéria Ramos de Arruda
and Flávio Neves, Jr.
Parametric Identification of the Dynamics of Mobile Robots
and Its Application to the Tuning of Controllers in ROS ... ..... .... 191
Walter Fetter Lages
Online Trajectory Planning in ROS Under Kinodynamic
Constraints with Timed-Elastic-Bands... .... .... .... .... ..... .... 231
Christoph Rösmann, Frank Hoffmann and Torsten Bertram
ix
x Contents
Part III Integration of ROS with Internet and Distributed Systems
ROSLink: Bridging ROS with the Internet-of-Things for Cloud
Robotics.. .... .... .... .... ..... .... .... .... .... .... ..... .... 265
Anis Koubaa, Maram Alajlan and Basit Qureshi
ROS and Docker... .... .... ..... .... .... .... .... .... ..... .... 285
Ruffin White and Henrik Christensen
A ROS Package for Dynamic Bandwidth Management
in Multi-robot Systems.. .... ..... .... .... .... .... .... ..... .... 309
Ricardo Emerson Julio and Guilherme Sousa Bastos
Part IV Service Robots and Fields Experimental
An Autonomous Companion UAV for the SpaceBot
Cup Competition 2015 .. .... ..... .... .... .... .... .... ..... .... 345
Christopher-Eyk Hrabia, Martin Berger, Axel Hessler,
Stephan Wypler, Jan Brehmer, Simon Matern and Sahin Albayrak
Development of an RFID Inventory Robot (AdvanRobot)... ..... .... 387
Marc Morenza-Cinos, Victor Casamayor-Pujol, Jordi Soler-Busquets,
José Luis Sanz, Roberto Guzmán and Rafael Pous
Robotnik—Professional Service Robotics Applications
with ROS (2).. .... .... .... ..... .... .... .... .... .... ..... .... 419
Roberto Guzmán, Román Navarro, Miquel Cantero
and Jorge Ariño
Using ROS in Multi-robot Systems: Experiences
and Lessons Learned from Real-World Field Tests.... .... ..... .... 449
Mario Garzón, João Valente, Juan Jesús Roldán,
David Garzón-Ramos, Jorge de León, Antonio Barrientos
and Jaime del Cerro
Part V Perception and Sensing
Autonomous Navigation in a Warehouse
with a Cognitive Micro Aerial Vehicle .. .... .... .... .... ..... .... 487
Marius Beul, Nicola Krombach, Matthias Nieuwenhuisen,
David Droeschel and Sven Behnke
Robots Perception Through 3D Point Cloud Sensors... .... ..... .... 525
Marco Antonio Simões Teixeira, Higor Barbosa Santos,
André Schneider de Oliveira, Lucia Valeria Arruda and Flavio Neves, Jr.