Table Of Content

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: [email protected] 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 methods of computational intelligence, as embedded in the fields of engineering, computer science, physics and life sciences, as well as the methodologies behind them. The series contains monographs, lecture notes and edited volumes in 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 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictionalclaimsinpublishedmapsandinstitutionalaffiliations. Printedonacid-freepaper ThisSpringerimprintispublishedbySpringerNature TheregisteredcompanyisSpringerInternationalPublishingAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland 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.

Description:

This second volume is a continuation of the successful first volume of this Springer book, and as well as addressing broader topics it puts a particular focus on unmanned aerial vehicles (UAVs) with Robot Operating System (ROS). Consisting of three types of chapters: tutorials, cases studies, and re