ROS Robotics By Example - Second Edition
Learning how to build and program your own robots with the most popular open source robotics programming framework
by Carol Fairchild, Dr. Thomas L. Harman
2nd Edition
Publisher: Packt Publishing
Book Details
| Print ISBN | 9781788479592 |
| eText ISBN | 9781788474726 |
| Publisher | Packt Publishing |
| Publishing Year | 2017 |
| Edition | 2nd Edition |
| Language | English |
ROS Robotics By Example - Second Edition, 2nd Edition, introduces robot construction and programming using the Robot Operating System framework. Written as a practical book, the text offers an accessible entry point into robotics application coding and simulation for newcomers.
The volume presents step-by-step projects across varied platforms, moving from basic simulation environments like turtlesim and two-wheeled models to TurtleBot navigation. Readers also encounter hands-on guidance for manipulator arms, aerial vehicles, and external tools such as the MATLAB Robotics System Toolbox.
Designed for robotics enthusiasts, researchers, and professional engineers, the text assumes familiarity with GNU/Linux and simple application development. No prior practical or theoretical robotics background is required.
Table of Contents
Chapter Preface: Preface
- • What this book covers
- • What you need for this book
- • Who this book is for
- • Conventions
- • Reader feedback
- • Customer support
Chapter 1: Getting Started with ROS
- • What does ROS do and what are the benefits of learning ROS?
- • Which robots are using ROS?
- • Installing and launching ROS
- • Creating a catkin workspace
- • ROS packages and manifest
- • ROS nodes, topics, and messages
- • Turtlesim – the first ROS robot simulation
- • ROS commands summary
- • Summary
Chapter 2: Creating Your First Two-Wheeled ROS Robot (in Simulation)
- • Introducing rviz
- • Creating and building a ROS package
- • Building a differential drive robot URDF
- • Gazebo
- • Summary
Chapter 3: Driving Around with TurtleBot
- • Introducing TurtleBot 2
- • Loading TurtleBot 2 simulator software
- • Launching TurtleBot 2 simulator in Gazebo
- • Setting up to control a real TurtleBot 2
- • Networking the netbook and remote computer
- • TurtleBot 2 hardware specifications
- • Moving the real TurtleBot 2
- • Introducing rqt tools
- • TurtleBot's odometry
- • TurtleBot 2 automatic docking
- • Introducing TurtleBot 3
- • Loading TurtleBot 3 simulation software
- • Launching TurtleBot 3 simulation in rviz
- • Launching TurtleBot 3 simulation in Gazebo
- • Hardware assembly and testing
- • Loading TurtleBot 3 software
- • Networking TurtleBot 3 and the remote computer
- • Moving the real TurtleBot 3
- • Summary
Chapter 4: Navigating the World with TurtleBot
- • 3D vision systems for TurtleBot
- • Configuring TurtleBot and installing the 3D sensor software
- • Testing the 3D sensor in standalone mode
- • Running ROS nodes for visualization
- • Navigating with TurtleBot
- • Summary
Chapter 5: Creating Your First Robot Arm (in Simulation)
- • Features of Xacro
- • Building an articulated robot arm URDF using Xacro
- • Controlling an articulated robot arm in Gazebo
- • Summary
Chapter 6: Wobbling Robot Arms Using Joint Control
- • Introducing Baxter
- • Baxter's arms
- • Loading Baxter software
- • Launching Baxter Simulator in Gazebo
- • Baxter's arms and forward kinematics
- • Introducing MoveIt!
- • Configuring a real Baxter setup
- • Controlling a real Baxter
- • Inverse kinematics
- • Using a state machine to perform YMCA
- • Summary
Chapter 7: Making a Robot Fly
- • Introducing quadrotors
- • Understanding quadrotor sensors
- • Preparing to fly your quadrotor
- • Using ROS with UAVs
- • Introducing Hector Quadrotor
- • Introducing Crazyflie 2.0
- • Introducing Bebop
- • Summary
Chapter 8: Controlling Your Robots with External Devices
- • Creating a custom ROS game controller interface
- • Creating a custom ROS Android device interface
- • Creating ROS nodes on Arduino or Raspberry Pi
- • Summary
Chapter 9: Flying a Mission with Crazyflie
- • Mission components
- • Loading software for the mission
- • Setting up the mission
- • How to control Crazyflie
- • Flying Crazyflie
- • Summary
Chapter 10: Controlling Baxter with MATLAB©
- • Installing the MATLAB Robotics System Toolbox
- • Using MATLAB Robotics System Toolbox and Baxter Simulator
- • Summary
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