Ebook: Effective robotics programming with ROS find out everything you need to know to build powerful robots with the most up-to-date ROS

Creating transforms -- Creating a broadcaster -- Creating a listener -- Watching the transformation tree -- Publishing sensor information -- Creating the laser node -- Publishing odometry information -- How Gazebo creates the odometry -- Using Gazebo to create the odometry -- Creating our own odometry -- Creating a base controller -- Creating our base controller -- Creating a map with ROS -- Saving the map using map_server -- Loading the map using map_server -- Summary -- Chapter 6: The Navigation Stack - Beyond Setups -- Creating a package -- Creating a robot configuration -- Configuring the costmaps - global_costmap and local_costmap -- Configuring the common parameters -- Configuring the global costmap -- Configuring the local costmap -- Base local planner configuration -- Creating a launch file for the navigation stack -- Setting up rviz for the navigation stack -- The 2D pose estimate -- The 2D nav goal -- The static map -- The particle cloud -- The robot's footprint -- The local costmap -- The global costmap -- The global plan -- The local plan -- The planner plan -- The current goal -- Adaptive Monte Carlo Localization -- Modifying parameters with rqt_reconfigure -- Avoiding obstacles -- Sending goals -- Summary -- Chapter 7: Manipulation with MoveIt! -- The MoveIt! architecture -- Motion planning -- The planning scene -- World geometry monitor -- Kinematics -- Collision checking -- Integrating an arm in MoveIt! -- What's in the box? -- Generating a MoveIt! package with the Setup Assistant -- Integration into RViz -- Integration into Gazebo or a real robotic arm -- Simple motion planning -- Planning a single goal -- Planning a random target -- Planning a predefined group state -- Displaying the target motion -- Motion planning with collisions -- Adding objects to the planning scene -- Removing objects from the planning scene.;Using the GDB debugger with ROS nodes -- Attaching a node to GDB while launching ROS -- Profiling a node with valgrind while launching ROS -- Enabling core dumps for ROS nodes -- Logging messages -- Outputting logging messages -- Setting the debug message level -- Configuring the debugging level of a particular node -- Giving names to messages -- Conditional and filtered messages -- Showing messages once, throttling, and other combinations -- Using rqt_console and rqt_logger_level to modify the logging level on the fly -- Inspecting the system -- Inspecting the node's graph online with rqt_graph -- Setting dynamic parameters -- Dealing with the unexpected -- Visualizing nodes diagnostics -- Plotting scalar data -- Creating a time series plot with rqt_plot -- Image visualization -- Visualizing a single image -- 3D visualization -- Visualizing data in a 3D world using rqt_rviz -- The relationship between topics and frames -- Visualizing frame transformations -- Saving and playing back data -- What is a bag file? -- Recording data in a bag file with rosbag -- Playing back a bag file -- Inspecting all the topics and messages in a bag file -- Using the rqt_gui and rqt plugins -- Summary -- Chapter 4: 3D Modeling and Simulation -- A 3D model of our robot in ROS -- Creating our first URDF file -- Explaining the file format -- Watching the 3D model on rviz -- Loading meshes to our models -- Making our robot model movable -- Physical and collision properties -- Xacro - a better way to write our robot models -- Using constants -- Using math -- Using macros -- Moving the robot with code -- 3D modeling with SketchUp -- Simulation in ROS -- Using our URDF 3D model in Gazebo -- Adding sensors to Gazebo -- Loading and using a map in Gazebo -- Moving the robot in Gazebo -- Summary -- Chapter 5: The Navigation Stack - Robot Setups -- The navigation stack in ROS.;Motion planning with point clouds -- The pick and place task -- The planning scene -- The target object to grasp -- The support surface -- Perception -- Grasping -- The pickup action -- The place action -- The demo mode -- Simulation in Gazebo -- Summary -- Chapter 8: Using Sensors and Actuators with ROS -- Using a joystick or a gamepad -- How does joy_node send joystick movements? -- Using joystick data to move our robot model -- Using Arduino to add sensors and actuators -- Creating an example program to use Arduino -- Robot platform controlled by ROS and Arduino -- Connecting your robot motors to ROS using Arduino -- Connecting encoders to your robot -- Controlling the wheel velocity -- Using a low-cost IMU - 9 degrees of freedom -- Installing Razor IMU ROS library -- How does Razor send data in ROS? -- Creating an ROS node to use data from the 9DoF sensor in our robot -- Using robot localization to fuse sensor data in your robot -- Using the IMU - Xsens MTi -- How does Xsens send data in ROS? -- Using a GPS system -- How GPS sends messages -- Creating an example project to use GPS -- Using a laser rangefinder - Hokuyo URG-04lx -- Understanding how the laser sends data in ROS -- Accessing the laser data and modifying it -- Creating a launch file -- Using the Kinect sensor to view objects in 3D -- How does Kinect send data from the sensors, and how do we see it? -- Creating an example to use Kinect -- Using servomotors - Dynamixel -- How does Dynamixel send and receive commands for the movements? -- Creating an example to use the servomotor -- Summary -- Chapter 9: Computer Vision -- ROS camera drivers support -- FireWire IEEE1394 cameras -- USB cameras -- Making your own USB camera driver with OpenCV -- ROS images -- Publishing images with ImageTransport -- OpenCV in ROS -- Installing OpenCV 3.0 -- Using OpenCV in ROS.;Cover -- Copyright -- Credits -- About the Authors -- About the Reviewer -- www.PacktPub.com -- Customer Feedback -- Table of Contents -- Preface -- Chapter 1: Getting Started with ROS -- PC installation -- Installing ROS Kinetic using repositories -- Configuring your Ubuntu repositories -- Setting up your source.list file -- Setting up your keys -- Installing ROS -- Initializing rosdep -- Setting up the environment -- Getting rosinstall -- How to install VirtualBox and Ubuntu -- Downloading VirtualBox -- Creating the virtual machine -- Using ROS from a Docker image -- Installing Docker -- Getting and using ROS Docker images and containers -- Installing ROS in BeagleBone Black -- Prerequisites -- Setting up the local machine and source.list file -- Setting up your keys -- Installing the ROS packages -- Initializing rosdep for ROS -- Setting up the environment in the BeagleBone Black -- Getting rosinstall for BeagleBone Black -- Basic ROS example on the BeagleBone Black -- Summary -- Chapter 2: ROS Architecture and Concepts -- Understanding the ROS Filesystem level -- The workspace -- Packages -- Metapackages -- Messages -- Services -- Understanding the ROS Computation Graph level -- Nodes and nodelets -- Topics -- Services -- Messages -- Bags -- The ROS master -- Parameter Server -- Understanding the ROS Community level -- Tutorials to practise with ROS -- Navigating through the ROS filesystem -- Creating our own workspace -- Creating an 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 -- Chapter 3: Visualization and Debugging Tools -- Debugging ROS nodes.;Visualizing the camera input images with rqt_image_view -- Camera calibration -- How to calibrate a camera -- Stereo calibration -- The ROS image pipeline -- Image pipeline for stereo cameras -- ROS packages useful for Computer Vision tasks -- Visual odometry -- Using visual odometry with viso2 -- Camera pose calibration -- Running the viso2 online demo -- Performing visual odometry with viso2 with a stereo camera -- Performing visual odometry with an RGBD camera -- Installing fovis -- Using fovis with the Kinect RGBD camera -- Computing the homography of two images -- Summary -- Chapter 10: Point Clouds -- Understanding the Point Cloud Library -- Different point cloud types -- Algorithms in PCL -- The PCL interface for ROS -- My first PCL program -- Creating point clouds -- Loading and saving point clouds to the disk -- Visualizing point clouds -- Filtering and downsampling -- Registration and matching -- Partitioning point clouds -- Segmentation -- Summary -- Index.