ROS Robotics Projects: Make your robots see, sense, and interact with cool and engaging projects with Robotic Operating System PDF
Preview ROS Robotics Projects: Make your robots see, sense, and interact with cool and engaging projects with Robotic Operating System
ROS Robotics Projects Build a variety of awesome robots that can see, sense, move, and do a lot more using the powerful Robot Operating System Lentin Joseph BIRMINGHAM - MUMBAI ROS Robotics Projects Copyright © 2017 Packt Publishing All rights reserved. No part of this book may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, without the prior written permission of the publisher, except in the case of brief quotations embedded in critical articles or reviews. Every effort has been made in the preparation of this book to ensure the accuracy of the information presented. However, the information contained in this book is sold without warranty, either express or implied. Neither the author, nor Packt Publishing, and its dealers and distributors will be held liable for any damages caused or alleged to be caused directly or indirectly by this book. Packt Publishing has endeavored to provide trademark information about all of the companies and products mentioned in this book by the appropriate use of capitals. However, Packt Publishing cannot guarantee the accuracy of this information. First published: March 2017 Production reference: 1290317 Published by Packt Publishing Ltd. Livery Place 35 Livery Street Birmingham B3 2PB, UK. ISBN 978-1-78355-471-3 www.packtpub.com Credits Author Copy Editor Lentin Joseph Madhusudan Uchil Reviewer Project Coordinator Ruixiang Du Judie Jose Commissioning Editor Proofreader Kartikey Pandey Safis Editing Acquisition Editor Indexer Namrata Patil Pratik Shirodkar Content Development Editor Graphics Amedh Pohad Kirk D'Penha Technical Editor Production Coordinator Prashant Chaudhari Shantanu Zagade About the Author Lentin Joseph is an author, entrepreneur, electronics engineer, robotics enthusiast, machine vision expert, embedded programmer, and the founder and CEO of Qbotics Labs (http://w ww.qboticslabs.com) from India. He completed his bachelor's degree in electronics and communication engineering at the Federal Institute of Science and Technology (FISAT), Kerala. For his final year engineering project, he made a social robot that can interact with people. The project was a huge success and was mentioned in many forms of visual and print media. The main features of this robot were that it could communicate with people and reply intelligently and had some image processing capabilities such as face, motion, and color detection. The entire project was implemented using the Python programming language. His interest in robotics, image processing, and Python started with that project. After his graduation, he worked for three years at a start-up company focusing on robotics and image processing. In the meantime, he learned to work with famous robotics software platforms such as Robot Operating System (ROS), V-REP, and Actin (a robotic simulation tool) and image processing libraries such as OpenCV, OpenNI, and PCL. He also knows about 3D robot design and embedded programming on Arduino and Tiva Launchpad. After three years of work experience, he started a new company called Qbotics Labs, which mainly focuses on research into building some great products in domains such as robotics and machine vision. He maintains a personal website (http://www.lentinjoseph.com) and a technology blog called technolabsz (http://www.technolabsz.com). He publishes his works on his tech blog. He was also a speaker at PyCon2013, India, on the topic Learning Robotics Using Python. Lentin is the author of the books Learning Robotics Using Python (http://learn-robotics.c om) and Mastering ROS for Robotics Programming (http://mastering-ros.com), both by Packt Publishing. The first book was about building an autonomous mobile robot using ROS and OpenCV. This book was launched at ICRA 2015 and was featured on the ROS blog, Robohub, OpenCV, the Python website, and various other such forums. The second book is on mastering Robot Operating System, which was also launched at ICRA 2016, and is one of the bestselling books on ROS. Lentin and his team were also winners of the HRATC 2016 challenge conducted as a part of ICRA 2016. He was also a finalist in the ICRA 2015 challenge, HRATC (http://www.icra 2016.org/conference/challenges/). Acknowledgements I would like to express my gratitude to the readers of my previous two books on ROS (ROS). Actually, they encouraged me to write one more book on ROS itself. I would like to thank the Packt Publishing team for giving support for publishing my books. It may have been a distant dream without you all. I would especially like to thank Amedh Pohad and Namrata Patil of Packt Publishing, who guided me during the writing process. Thanks for all your suggestions. A special thanks to Ruixiang Du and all other technical reviewers for improving the content and giving good suggestions. Without your suggestions, this book may not have become a good product. The most important thing in my life is my family. Without their support, this would not have been possible. I would like to dedicate this book to my parents, who gave me the inspiration to write this book. This is my third book about ROS. Thanks for the constant support. I would also like to mention my previous company, ASIMOV Robotics, who provided components for a few projects in this book. Thank you very much. I thank all the readers who made by previous books successful. I hope you guys also like this book and make it successful. About the Reviewer Ruixiang Du is a PhD candidate in mechanical engineering at Worcester Polytechnic Institute (WPI). He currently works in the Systems and Robot Control laboratory with a research focus on the motion planning and control of autonomous mobile robots. He received a bachelor's degree in automation from North China Electric Power University in 2011 and a master's degree in robotics engineering from WPI in 2013. Ruixiang has general interests in robotics and in real-time and embedded systems. He has worked on various robotic projects, with robot platforms ranging from medical robots and unmanned aerial/ground vehicles to humanoid robots. He was a member of Team WPI- CMU for the DARPA Robotics Challenge. www.PacktPub.com For support files and downloads related to your book, please visit www.PacktPub.com. Did you know that Packt offers eBook versions of every book published, with PDF and ePub files available? You can upgrade to the eBook version at www.PacktPub.com and as a print book customer, you are entitled to a discount on the eBook copy. Get in touch with us at [email protected] for more details. At www.PacktPub.com, you can also read a collection of free technical articles, sign up for a range of free newsletters and receive exclusive discounts and offers on Packt books and eBooks. https://www.packtpub.com/mapt Get the most in-demand software skills with Mapt. Mapt gives you full access to all Packt books and video courses, as well as industry-leading tools to help you plan your personal development and advance your career. Why subscribe? 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Table of Contents Preface 1 Chapter 1: Getting Started with ROS Robotics Application Development 8 Getting started with ROS 9 ROS distributions 10 Supported operating systems 11 Robots and sensors supported by ROS 13 Why ROS 15 Fundamentals of ROS 16 The filesystem level 17 The computation graph level 18 The ROS community level 20 Communication in ROS 21 ROS client libraries 22 ROS tools 23 Rviz (ROS Visualizer) 23 rqt_plot 24 rqt_graph 25 Simulators of ROS 25 Installing ROS kinetic on Ubuntu 16.04 LTS 26 Getting started with the installation 27 Configuring Ubuntu repositories 28 Setting up source.list 29 Setting up keys 30 Installing ROS 30 Initializing rosdep 30 Setting the ROS environment 31 Getting rosinstall 31 Setting ROS on VirtualBox 32 Setting the ROS workspace 34 Opportunities for ROS in industries and research 36 Questions 38 Summary 39 Chapter 2: Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos 40 Overview of the project 41
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