Credits
by Aaron Martinez, Anil Mahtani, Luis Sánchez Crespo, Enrique Fernández
Learning ROS for Robotics Programming - Second Edition
- Learning ROS for Robotics Programming Second Edition
- Table of Contents
- Learning ROS for Robotics Programming Second Edition
- Credits
- About the Author
- Acknowledgments
- About the Author
- Acknowledgments
- About the Author
- Acknowledgments
- About the Author
- Acknowledgments
- About the Reviewer
- About the Reviewer
- Acknowledgments
- About the Reviewers
- www.PacktPub.com
- Preface
- 1. Getting Started with ROS Hydro
- 2. ROS Architecture and Concepts
- Understanding the ROS Filesystem level
- Understanding the ROS Computation Graph level
- Understanding the ROS Community level
- Tutorials to practice with ROS
- Navigating by ROS Filesystem
- Creating our own workspace
- Creating a 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 Debug Tools
- Debugging ROS nodes
- Logging messages
- Outputting a logging message
- Setting the debug message level
- Configuring the debugging level of a particular node
- Giving names to messages
- Conditional and filtered messages
- Showing messages in the once, throttle, and other combinations
- Using rqt_console and rqt_logger_level to modify the debugging level on the fly
- Inspecting what is going on
- Setting dynamic parameters
- When something weird happens
- Visualizing node diagnostics
- Plotting scalar data
- Image visualization
- 3D visualization
- Saving and playing back data
- Using the rqt_gui and rqt plugins
- Summary
- 4. Using Sensors and Actuators with ROS
- Using a joystick or a gamepad
- Using a laser rangefinder – Hokuyo URG-04lx
- Using the Kinect sensor to view objects in 3D
- Using servomotors – Dynamixel
- Using Arduino to add more sensors and actuators
- Using an ultrasound range sensor with Arduino
- How distance sensors send messages
- Using a low-cost IMU – 10 degrees of freedom
- Using a GPS system
- Summary
- 5. Computer Vision
- 6. Point Clouds
- 7. 3D Modeling and Simulation
- 8. The Navigation Stack – Robot Setups
- 9. The Navigation Stack – Beyond Setups
- Creating a package
- Creating a robot configuration
- Configuring the costmaps – global_costmap and local_costmap
- Creating a launch file for the navigation stack
- Setting up rviz for the navigation stack
- Adaptive Monte Carlo Localization
- Modifying parameters with rqt_reconfigure
- Avoiding obstacles
- Sending goals
- Summary
- 10. Manipulation with MoveIt!
- Index
Authors
Enrique Fernández
Luis Sánchez Crespo
Anil Mahtani
Aaron Martinez
Reviewers
Piotr Gródek
Akihiko HONDA
Matthieu Keller
Aridane J. Sarrionandia de León
Commissioning Editor
Usha Iyer
Acquisition Editor
Richard Brookes-Bland
Content Development Editor
Adrian Raposo
Technical Editor
Parag Topre
Copy Editors
Sarang Chari
Sonia Mathur
Project Coordinator
Sanchita Mandal
Proofreader
Safis Editing
Indexer
Mariammal Chettiyar
Graphics
Sheetal Aute
Jason Monteiro
Abhinash Sahu
Production Coordinator
Arvindkumar Gupta
Cover Work
Arvindkumar Gupta
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