Programming Robots with ROS · A Practical Introduction to the Robot Operating System by Quigley, Morgan -- Read -- Imperial Library of Trantor

Index

Preface

Who Should Read This Book? Who Should Not Read This Book? What You’ll Learn Prerequisites Conventions Used in This Book Using Code Examples Safari® Books Online How to Contact Us Acknowledgments

I. Fundamentals 1. Introduction

Brief History Philosophy Installation Summary

2. Preliminaries

The ROS Graph roscore catkin, Workspaces, and ROS Packages

catkin Workspaces ROS Packages

rosrun Names, Namespaces, and Remapping roslaunch The Tab Key tf: Coordinate Transforms

Poses, Positions, and Orientations tf

Summary

3. Topics

Publishing to a Topic

Checking That Everything Works as Expected

Subscribing to a Topic

Checking That Everything Works as Expected

Latched Topics Defining Your Own Message Types

Defining a New Message Using Your New Message When Should You Make a New Message Type?

Mixing Publishers and Subscribers Summary

4. Services

Defining a Service Implementing a Service

Checking That Everything Works as Expected Other Ways of Returning Values from a Service

Using a Service

Checking That Everything Works as Expected Other Ways to Call Services

Summary

5. Actions

Defining an Action Implementing a Basic Action Server

Checking That Everything Works as Expected

Using an Action

Checking That Everything Works as Expected

Implementing a More Sophisticated Action Server Using the More Sophisticated Action

Checking That Everything Works as Expected

Summary

6. Robots and Simulators

Subsystems

Actuation: Mobile Platform Actuation: Manipulator Arm Sensors

Visual cameras Depth cameras Laser scanners Shaft encoders

Computation

Complete Robots

PR2 Fetch Robonaut 2 TurtleBot

Simulators

Stage Gazebo Other Simulators

Summary

7. Wander-bot

Creating a Package Reading Sensor Data Sensing and Actuation: Wander-bot! Summary

II. Moving Around Using ROS 8. Teleop-bot

Development Pattern Keyboard Driver Motion Generator Parameter Server Velocity Ramps Let’s Drive! rviz Summary

9. Building Maps of the World

Maps in ROS Recording Data with rosbag Building Maps Starting a Map Server and Looking at a Map Summary

10. Navigating About the World

Localizing the Robot in a Map

Getting a Good Initial Localization What’s Going on Behind the Scenes Tips for Setting a Better Initial Pose

Using the ROS Navigation Stack

The ROS Navigation Stack Navigating in rviz Seeing What’s Going On

Navigating in Code Summary

11. Chess-bot

Joints, Links, and Kinematic Chains

Joint Space Inverse Kinematics

The Key to Success Installing and Running a Simulated R2 Moving R2 from the Command Line Moving R2 Around a Chessboard Operating the Hand Modeling a Chessboard Playing Back a Famous Chess Game Summary

III. Perception and Behavior 12. Follow-bot

Acquiring Images Detecting the Line Following the Line Summary

13. On Patrol

Simple Patrolling State Machines

State Machines in ROS

Defining State Machines with smach

A Slightly More Relevant Example Defining State Machines Procedurally

Patrolling with State Machines

A Better Way to Patrol

Summary

14. Stockroom-bot

Stockroom Simulation Driving to Bins Picking Up the Item Summary

IV. Bringing Your Own Stuff into ROS 15. Your Own Sensors and Actuators

Adding Your Own Sensors

A (Fake) Sensor Designing the ROS Wrapper Design 1: Periodic Measurements over a Topic Design 2: Streaming Measurements over a Topic Design 3: Streaming Measurements Published at a Fixed Rate Design 4: Sensor Measurements on Demand

Adding Your Own Actuators

A (Fake) Actuator Designing the ROS Wrapper Design 1: Continuous Actuation Design 2: Infrequent, Instantaneous Actuation Design 3: Infrequent, Extended Actuation

Summary

16. Your Own Mobile Robot

TortoiseBot ROS Message Interface Hardware Driver Modeling the Robot: URDF Simulation in Gazebo Summary

17. Your Own Mobile Robot: Part 2

Verifying Transforms Adding a Laser Sensor Configuring the Navigation Stack Using rviz to Localize and Command a Navigating Robot Summary

18. Your Own Robot Arm

CougarBot ROS Message Interface Hardware Driver Modeling the Robot: URDF Simulation in Gazebo Verifying Transforms Configuring MoveIt Using rviz to Send Goals Summary

19. Adding a Software Library

Make Your Robot Talk: pyttsx

Action Interface Parameters Event Loops The Speech Server The Speech Client Checking That Everything Works as Expected

Summary

V. Tips and Tricks 20. Tools

The Master and Friends: roscore Parameters: rosparam Navigating the Filesystem: roscd Starting a Node: rosrun Starting Many Nodes: roslaunch Testing a Many-Node System: rostest Introspection: rosnode, rostopic, rosmsg, rosservice, and rossrv Summary

21. Debugging Robot Behavior

Log Messages: /rosout and rqt_console

Generating Log Messages: /rosout Logger Levels Reading Log Messages: rqt_console /rosout Versus /rosout_agg

Nodes, Topics, and Connections: rqt_graph and rosnode

Visualizing the Graph: rqt_graph Problem: Mismatched Topic Names Problem: Mismatched Topic Types and/or Checksums Problem: Incorrect Network Settings

Sensor Fusion: rviz Plotting Data: rqt_plot Data Logging and Analysis: rosbag and rqt_bag

Logging and Playing Back Data: rosbag Visualizing Bags: rqt_bag Analyzing ROS Bags with Other Tools: rostopic echo -b

Summary

22. The ROS Community: Online Resources

Etiquette The ROS Wiki ROS Answers Trackers (Bugs and Feature Requests) Mailing Lists and Special Interest Groups Finding and Sharing Code Summary

23. Using C++ in ROS

When Should You Use C (or Some Other Language)? Building C++ with catkin

package.xml CMakeLists.txt catkin_make

Translating from Python to C++ (and Back Again)

A Simple Node Topics Services

Summary

Index

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