Learning ROS for Robotics Programming by Martinez, Aaron -- Read -- Imperial Library of Trantor

Index

Learning ROS for Robotics Programming

Table of Contents Learning ROS for Robotics Programming Credits About the Authors About the Reviewers www.PacktPub.com

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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

Installing ROS Electric – using repositories

Adding repositories to your sources.list file Setting up your keys Installation The environment setup

Installing ROS Fuerte – using repositories

Configuring your Ubuntu repositories Setting up your source.list file Setting up your keys Installation The environment setup Standalone tools

How to install VirtualBox and Ubuntu

Downloading VirtualBox Creating the virtual machine

Summary

2. The ROS Architecture with Examples

Understanding the ROS Filesystem level

Packages Stacks Messages Services

Understanding the ROS Computation Graph level

Nodes Topics Services Messages Bags Master Parameter Server

Understanding the ROS Community level Some tutorials to practice with ROS

Navigating through the ROS filesystem Creating our own workspace Creating an ROS package Building an ROS package Playing with ROS nodes Learning how to interact with topics Learning how to use services Using the Parameter Server Creating nodes Building the node Creating msg and srv files Using the new srv and msg files

Summary

3. Debugging and Visualization

Debugging ROS nodes

Using the GDB debugger with ROS nodes Attaching a node to GDB while launching ROS Enabling core dumps for ROS nodes

Debugging messages

Outputting a debug message Setting the debug message level Configuring the debugging level of a particular node Giving names to messages Conditional and filtered messages More messages – once, throttle, and combinations Using rosconsole and rxconsole to modify the debugging level on the fly

Inspecting what is going on

Listing nodes, topics, and services Inspecting the node's graph online with rxgraph

When something weird happens – roswtf! Plotting scalar data

Creating a time series plot with rxplot Other plotting utilities – rxtools

Visualization of images

Visualizing a single image FireWire cameras Working with stereo vision

3D visualization

Visualizing data on a 3D world using 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 rxbag

rqt plugins versus rx applications Summary

4. Using Sensors and Actuators with ROS

Using a joystick or gamepad

How does joy_node send joystick movements? Using joystick data to move a turtle in turtlesim

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 in 3D

How does Kinect send data from the sensors and how to 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

Using Arduino to add more sensors and actuators

Creating an example to use Arduino

Using the IMU – Xsens MTi

How does Xsens send data in ROS? Creating an example to use Xsens

Using a low-cost IMU – 10 degrees of freedom

Downloading the library for the accelerometer Programming Arduino Nano and the 10DOF sensor Creating a ROS node to use data from the 10DOF sensor

Summary

5. 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

6. Computer Vision

Connecting and running the camera

FireWire IEEE1394 cameras USB cameras

Making your own USB camera driver with OpenCV

Creating the USB camera driver package Using the ImageTransport API to publish the camera frames Dealing with OpenCV and ROS images using cv_bridge Publishing images with ImageTransport Using OpenCV in ROS Visualizing the camera input images

How to calibrate the camera

Stereo calibration

The ROS image pipeline

Image pipeline for stereo cameras

ROS packages useful for computer vision tasks Performing visual odometry with viso2

Camera pose calibration Running the viso2 online demo Running viso2 with our low-cost stereo camera

Summary

7. 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 Creating our own odometry

Creating a base controller

Using Gazebo to create the odometry Creating our base controller

Creating a map with ROS

Saving the map using map_server Loading the map using map_server

Summary

8. 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

2D pose estimate 2D nav goal Static map Particle cloud Robot footprint Obstacles Inflated obstacles Global plan Local plan Planner plan Current goal

Adaptive Monte Carlo Localization (AMCL) Avoiding obstacles Sending goals Summary

9. Combining Everything – Learn by Doing

REEM – the humanoid of PAL Robotics

Installing REEM from the official repository Running REEM using the Gazebo simulator

PR2 – the Willow Garage robot

Installing the PR2 simulator Running PR2 in simulation Localization and mapping Running the demos of the PR2 simulator

Robonaut 2 – the dexterous humanoid of NASA

Installing the Robonaut 2 from the sources Running Robonaut 2 in the ISS fixed pedestal

Controlling the Robonaut 2 arms Controlling the robot easily with interactive markers Giving legs to Robonaut 2 Loading the ISS environment

Husky – the rover of Clearpath Robotics

Installing the Husky simulator Running Husky on simulation

TurtleBot – the low-cost mobile robot

Installing the TurtleBot simulation Running TurtleBot on simulation

Summary

Index

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