ROS Robotics by Example

【实例简介】
ROS Robotics by Example
R○ s Robotics by example Copyright o 2016 Packt Publishing All rights reserved. No part of this book may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, without the prior written permission of the publisher, except in the case of brief quotations embedded in critical articles or reviews rt has been made in the preparation of this book to ensure the accuracy of the information presented However the information contained in this book is sold without warranty, cither express or implied. Neither the authors nor Packt Publishing and its dealers and distributors will be held liable for any damages caused or alleged to be caused directly or indirectly by this book Packt Publishing has endeavored to provide trademark information about all of the companies and products mentioned in this book by the appropriate use of capitals However, Packt Publishing cannot guarantee the accuracy of this information First published June 2016 Production reference: 1240616 Published by Packt Publishing ltd Livery place 35 Livery street Birmingham b3 2PB UK ISBN978-1-78217-519-3 www.packtpub.com Credits Authors Project Coordinator Carol fairchild Kinjal Bari Dr thomas l, harman Proofreader Reviewer Safis Editing Shweta Gupte Commissioning Editor Hemangini Bari Dipika gank Graphics Acquisition Editors Kirk d' penha Vivek anantharaman Prachi bisht Production coordinator Shantanu N. agade Content Development editor Mehvash fatima Cover Work Shantanu N. agade Technical editor Devesh Chugh Copy Editors Roshni Baneriee Gladson monteiro Rashmi sawant About the authors Carol Fairchild is the owner and principal engineer of fairchild Robotics, a robotics development and integration company. She is a researcher at Baxter's Lab at the University of Houston-Clear Lake (UHCl and a member of the adjunct faculty Her research involves the use of Baxter for expanded applications. Ms Fairchild has been involved in many aspects of robotics from her earliest days of building her first robot, a Heathkit Hero. She has an Ms in computer engineering from UHCL and a bs in engineering technology from Texas A&M. Ms. Fairchild has taught middle-school robotics, coached fll and volunteered for first robotics in houston Dr. Thomas L. harman is the chair of the engineering division at UhCL His research interests are control systems and applications of robotics and microprocessors. Several of his research papers with colleagues involve robotic and laser applications in medicine. In 2005, he was selected as the UHCL Distinguished Professor he has been a judge and safety advisor for the first robotic contests in Houston. Dr. Harman has authored or coauthored 18 books on subjects including microprocessors, MATLAB and Simulink applications, and the National Electrical Code. His laboratory at UhCl has a Baxter two-armed robot and several Turtlebots as well as other robots About the reviewer Shweta gupte is an embedded systems engineer with 4 years of experience in the robotics field She has worked with robots both at the software level and at the low-level hardware interface. She has experience in working with embedded system design, RTOS, microcontroller programming and low-level robot interfaces, motion planning, and computer vision Shweta has experience programming in C, embedded C, Java, MATLAB, and microcontroller assembly language. She has worked with low-level controllers, including the renesas rX62, Renesas Qsk, Arduino, PIC, and Rasberry pi Currently, she is working at Mathworks to develop matlab and simulink products for robotics and embedded targets, including developing automated test beds and hardware testing. She has a master's degree in electrical engineering and a bachelor's degree in electronics and telecommunication. Her interests include playing with low cost microcontroller-based robots and quadrotors. She likes to spend her spare time rock climbing and fostering rescued dogs Www.Packtpub.com eBooks, discount offers and more Did you know that Packt offers e Book versions of every book published, with PDF andepuBfilesavailableYoucanupgradetotheebookversionatwww.packtpub com and as a print book customer, you are entitled to a discount on the e Book copy Get in touch with us at customercareapacktpub com for more details Atwww.packtpub.comyoucanalsoreadacollectionoffreetechnicalarticlessign up for a range of free newsletters and receive exclusive discounts and offers on Packt books and ebooks PACKTLiB https://www2.packtpub.com/books/subscription/packtlib Do you need instant solutions to your It questions? PacktLib is Packt's online digital book library. Here, you can search, access, and read Packt's entire library of Why subscribe? Fully searchable across every book published by packt Copy and paste, print, and bookmark content On demand and accessible via a web browser Table of contents Preface Chapter 1: Getting Started with ROs What does ros do and what are the benefits of learning ros? Who controls ros? Which robots are using ROS? Installing and launching ros Configuring your Ubuntu repositories Setting up your sources list Setting up your keys Installing Ros Indigo x123355666788 Initialize rosdep Environment setup Getting rosinstall Troubleshooting-examining your ROS environment 8 Creating a catkin workspace 9 ROS packages and manifest ROS manifest Exploring the Ros packages spack find package rospack list 13 ROS nodes and ros master 13 ROS nodes 14 Nodes can publish and nodes can subscribe 14 ROS Master 15 Invoking the Ros Master using roscoe 15 ROS commands to determine the nodes and topics Table of contents Turtlesim. the first ros robot simulation Starting turtlesim nodes 19 rosrun command 19 Turtlesim nodes 21 Turtlesim topics and messages 23 rostopic list 24 rostopic type rosmsg list rosmsg show rostopic echo Parameter Server of turtlesim 26 rosparam help 27 rosparam list for /turtlesim node Change parameters for the color of the turtle's background 28 RoS services to move turtle 29 rosservice call 30 ROS commands summary 31 Summary 32 Chapter 2: Creating Your First Two-Wheeled Ros Robot (in simulation) 33 R VIZ 34 Installing and launching viz 34 Using viz 36 Displays panel 36 Views and Time panels 37 Toolbar 38 Main window menu bar 38 Creating and building a ros package 39 Building a differential drive robot URDF 40 Creating a robot chassis 41 Using roslaunch 42 Adding wheels 45 Adding a castel 48 Adding color 49 Adding collisions 51 Moving the wheels 52 A word about tf and robot state publisher 54 Adding physical properties 54 Trying URDF tools 56 check urd udf to_ g Table of Contents Gazebo Installing and launching Gazebo 58 Using roslaunch with Gazebo 59 Using gazebo 60 Environment toolbar 60 World and Insert panels 61 Joints panel Main window menu bar 62 Simulation par Modifications to the robot urde 63 Adding the Gazebo tag 6 Specifying color in Gazebo a word about <visual> and <collision> elements in gazebo 64 Verifying a Gazebo model 64 Viewing the rdf in gazebo 65 Tweaking your model 6 Moving your model around Other ros simulation environments 69 Summary 69 Chapter 3: Driving Around with Turtle Bot Introducing TurtleBot 72 Loading Turtle Bot simulator software 74 Launching turtle Bot simulator in Gazebo 75 Problems and troubleshooting ROS commands and gazebo 78 Keyboard teleoperation of turtle bot in simulation 80 Setting up to control a real Turtle Bot 82 Turtle Bot standalone test 83 Networking the netbook and remote computer 84 Types of networks 85 Network addresses 85 Remote computer network setup 87 Netbook network setup 88 Secure Shell(SSH) connection 88 Summary of network setup 89 Troubleshooting your network connection 89 Testing the TurtleBot system 90 Turtle Bot hardware specifications 91 Turtle Bot dashboard 92 【实例截图】
【核心代码】