Learning ROS for Robotics Programming

Take control of the Linux based Robot Operating System, and discover the tools, libraries, and conventions you need to create your own robots without the hassle.

Häftad, Engelska, 2015

730 kr

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Beskrivning

Key FeaturesBook DescriptionIf you have ever tried building a robot, then you know how cumbersome programming everything from scratch can be. This is where ROS comes into the picture. It is a collection of tools, libraries, and conventions that simplifies the robot building process. What’s more, ROS encourages collaborative robotics software development, allowing you to connect with experts in various fields to collaborate and build upon each other's work.Packed full of examples, this book will help you understand the ROS framework to help you build your own robot applications in a simulated environment and share your knowledge with the large community supporting ROS.Starting at an introductory level, this book is a comprehensive guide to the fascinating world of robotics, covering sensor integration, modeling, simulation, computer vision, navigation algorithms, and more. You will then go on to explore concepts like topics, messages, and nodes. Next, you will learn how to make your robot see with HD cameras, or navigate obstacles with range sensors. Furthermore, thanks to the contributions of the vast ROS community, your robot will be able to navigate autonomously, and even recognize and interact with you in a matter of minutes.What’s new in this updated edition? First and foremost, we are going to work with ROS Hydro this time around. You will learn how to create, visualize, and process Point Cloud information from different sensors. This edition will also show you how to control and plan motion of robotic arms with multiple joints using MoveIt! By the end of this book, you will have all the background you need to build your own robot and get started with ROS.What you will learnInstall a complete ROS Hydro systemCreate ROS packages and metapackages, using and debugging them in real timeBuild, handle, and debug ROS nodesDesign your 3D robot model and simulate it in a virtual environment within GazeboGenerate and adapt the navigation stack to work with your robotIntegrate different sensors such as Range Laser, Arduino, and Kinect with your robotVisualize and process Point Cloud information from different sensorsControl and plan the motion of robotic arms with multiple joints using MoveIt!Who this book is forIn order to make the most of the book, you should have a C++ programming background, knowledge of GNU/Linux systems, and general skills in computer science. No previous background in ROS is required, as this book takes you from the ground up.

Produktinformation

Utgivningsdatum:2015-08-18
Mått:191 x 235 x 25 mm
Vikt:849 g
Format:Häftad
Språk:Engelska
Antal sidor:458
Upplaga:2
Förlag:Packt Publishing Limited
ISBN:9781783987580

Utforska kategorier

Informationsteknik: allmänt inom Data och IT

Mer om författaren

Anil Mahtani is a computer scientist who has dedicated an important part of his career to underwater robotics. He first started working in the field with his master thesis, where he developed a software architecture for a low-cost ROV. During the development of his thesis, he also became the team leader and lead developer of AVORA, a team of university students that designed and developed an autonomous underwater vehicle for the Students Autonomous Underwater Challenge Europe (SAUC-E) in 2012. That same year, Anil Mahtani completed his thesis and his MSc in Computer Science at the University of Las Palmas de Gran Canaria and then became a Software Engineer at SeeByte Ltd, a world leader in smart software solutions for underwater systems. In 2015, he joined Dell Secureworks as a Software Engineer, where he applies his knowledge and skills toward developing intrusion detection and prevention systems. During his time at SeeByte Ltd, Anil Mahtani played a key role in the development of several semi-autonomous and autonomous underwater systems for the military and oil and gas industries. In those projects, he was heavily involved in the development of autonomy systems, the design of distributed software architectures, and low-level software development and also contributed in providing Computer Vision solutions for front-looking sonar imagery. At SeeByte Ltd, he also achieved the position of project manager, managing a team of engineers developing and maintaining the internal core C++ libraries. His professional interests lie mainly in software engineering, algorithms, data structures, distributed systems, networks, and operating systems. Anil's main role in robotics is to provide efficient and robust software solutions, addressing not only the current problems at hand but also foreseeing future problems or possible enhancements. Given his experience, he is also an asset when dealing with Computer Vision, machine learning, or control problems. Anil has also interests in DIY and electronics, and he has developed several Arduino libraries, which he has contributed back to the community. Aaron Martinez is a computer engineer, entrepreneur, and expert in digital fabrication. He did his master's thesis in 2010 at the IUCTC (Instituto Universitario de Ciencias y Tecnologias Ciberneticas) in the University of Las Palmas de Gran Canaria. He prepared his master's thesis in the field of telepresence using immersive devices and robotic platforms. After completing his academic career, he attended an internship program at The Institute for Robotics in the Johannes Kepler University in Linz, Austria. During his internship program, he worked as part of a development team of a mobile platform using ROS and the navigation stack. After that, he was involved in some projects related to robotics; one of them is the AVORA project in the University of Las Palmas de Gran Canaria. In this project, he worked on the creation of an AUV to participate in the Student Autonomous Underwater Challenge-Europe (SAUC-E) in Italy. In 2012, he was responsible for manufacturing this project; in 2013, he helped to adapt the navigation stack and other algorithms from ROS to the robotic platform. Recently, Aaron created his own company named SubSeaMechatronics, SL. This company works with projects related with underwater robotics and telecontrol systems. They are also designing and manufacturing subsea sensors. The company manufactures devices for other companies and research and development institutes. Aaron has experience in many fields, such as programming, robotics, mechatronics, and digital fabrication as well as many devices, such as Arduino, BeagleBone, Servers, and LIDAR, and nowadays he is designing in SubSeaMechatronics SL some robotics platforms for underwater and aerial environments.

Innehållsförteckning

Table of ContentsGetting Started with ROS HydroROS Architecture and ConceptsVisualization and Debug ToolsManaging Sensors and Actuators with ROSROS Computer Visiion SupportWorking with Point Clouds (PCL)3D Modeling and SimulationNavigation Stack - Robot SetupsNavigation Stack - Beyond SetupsManipulation with MoveIt!