About the Reviewers
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
Matthieu Keller is a French engineer who loves technology and computer science. His education walked him through computing and robotics, which have now become a hobby. He has reviewed the first version of this book.
Aridane J. Sarrionandia de León studied computer sciences and has always had a great interest in robotics and autonomous vehicles. His degree project is about underwater mapping using sonar, for which he has worked with an autonomous underwater vehicle with ROS. He has experience with autonomous systems and ROS. He is familiar with OpenCV and PCL and is currently working on the development of the control system of an autonomous surface vehicle.
I would like to thank Luis and Aaron for giving me the opportunity to review this book. Also, I would like to thank the AVORA team from the University of Las Palmas de Gran Canaria, especially Aaron, Luis, and Enrique, for introducing me to the wonders of ROS and helping me discover the world of autonomous vehicles, and my tutor, Jorge Cabrera Gámez, who gave me the opportunity to be a part of the AVORA team.
Finally, I would like to thank my family and friends, who supported me through the bugs in my life. Special thanks to Eva for dealing with all my gibberish.
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