ROS by Examples For ROS Indigo. Packages and Programs for Advanced Robot Behaviors. Volume 2 PDF
Preview ROS by Examples For ROS Indigo. Packages and Programs for Advanced Robot Behaviors. Volume 2
ROS By Example V 2 OLUME P P ACKAGES AND ROGRAMS FOR A R B DVANCED OBOT EHAVIORS A P R P I OBOT RODUCTION R. P G ATRICK OEBEL Version 1.1.0 For ROS Indigo ROS BY EXAMPLE. Copyright © 2014 by R. Patrick Goebel All Rights Reserved. No part of this work may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, recording, or by any information storage or retrieval system, without the prior written permission of the copyright owner and the publisher. ISBN: 978-1-312-39266-3 Version 1.1.0 for ROS Indigo: July 2015 Products and company names mentioned herein may be the trademarks of their respective owners. Rather than use a trademark symbol with every occurrence of a trademark name, we are using the names only in an editorial fashion and to the benefit of the trademark owner, with no intention of infringement of the trademark. Information contained in this work (Paperback or eBook) has been obtained from sources believed to be reliable. However, the author does not guarantee the accuracy or completeness of any information contained in it, and the author shall not be responsible for any errors, omissions, losses, or damages caused or alleged to be caused directly or indirectly by the information published herein. This work is published with the understanding that the author is supplying information but is not attempting to render professional services. This product almost certainly contains errors. It is your responsibility to examine, verify, test, and determine the appropriateness of use, or request the assistance of an appropriate professional to do so. P REFACE In February 2013, ROS stewardship was transferred from Willow Garage to the Open Source Robotics Foundation (OSRF). The stated mission of OSRF is "to support the development, distribution, and adoption of open source software for use in robotics research, education, and product development." The two major projects overseen by OSRF are ROS and Gazebo, the advanced 3D robot simulator. New ROS packages continue to be released on a regular basis by individuals and groups working in both university labs and the robotics industry. Interest in learning ROS continues to grow, and the popularity of ROS By Example Volume 1 has exceeded my expectations. Yet going beyond the basics still requires a fairly steep learning curve and realistic examples dealing with more advanced topics are not always easy to find. The overall goal of Volume 2 is to introduce a collection of ROS packages and tools that are essential for programming truly autonomous robots. This includes the use of executive task managers like SMACH and Behavior Trees, creating custom URDF models for different robots, monitoring the health of the robot using ROS diagnostics, multiplexing control inputs and assigning priorities, controlling a multi-jointed arm for reaching and grasping, monitoring and controlling the robot through a web browser, and performing realistic simulations using Gazebo. When we are finished, you will have the tools necessary to program an "always on" robot that can monitor its own subsystems and perform a series of tasks without human intervention. Please note that the code in this book is written for ROS Indigo. While some of it might work on earlier versions of ROS, it is highly recommended that the reader use ROS Indigo with this book. P PDF V B RINTED VS ERSIONS OF THE OOK The printed and PDF versions of this book are nearly the same with a few important differences. The page formatting is identical but most PDF readers start page numbering from the first page and ignore what is set by the document itself. Images and code syntax are in color in the PDF version but grayscale in the printed version to keep the cost reasonable. The PDF version is full of clickable links to other resources on the Web. In the printed version, these links appear as underlined text with a numbered superscript. The expanded URLs are then listed as endnotes at the end of the book. Staying Up-To-Date: If you'd like to ask questions about the book or the sample code, or receive notifications regarding updates and bug fixes, please join the ros-by-example Google Group.
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