Effective Robotics Programming with ROS · 3rd Edition by Mahtani, Anil -- Read -- Imperial Library of Trantor

Index

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

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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

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