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ROS Robotics By Example, Second Edition

You're reading from ROS Robotics By Example, Second Edition Learning to control wheeled, limbed, and flying robots using ROS Kinetic Kame

Product type Paperback

Published in Nov 2017

Publisher Packt

ISBN-13 9781788479592

Length 484 pages

Edition 2nd Edition

Languages

MATLAB

Tools

ROS

Concepts

Robotics

Authors (3):

Dr. Thomas L. Harman

Lentin Joseph

Carol Fairchild

View More author details

Table of Contents (12) Chapters

Preface

1. Getting Started with ROS

2. Creating Your First Two-Wheeled ROS Robot (in Simulation) FREE CHAPTER

3. Driving Around with TurtleBot

4. Navigating the World with TurtleBot

5. Creating Your First Robot Arm (in Simulation)

6. Wobbling Robot Arms Using Joint Control

7. Making a Robot Fly

8. Controlling Your Robots with External Devices

9. Flying a Mission with Crazyflie

10. Controlling Baxter with MATLAB©

Index

Introducing rviz

Rviz, abbreviation for ROS visualization, is a powerful 3D visualization tool for ROS. It allows the user to view the robot model, display and/or log sensor information from the robot's sensors, and replay the logged sensor information. By visualizing what the robot is seeing, thinking, and doing, the user can debug a robot application from sensor inputs to planned (or unplanned) actions.

Rviz displays 3D sensor data from stereo cameras, lasers, Kinects, and other 3D devices in the form of point clouds or depth images. 2D sensor data from webcams, RGB cameras, and 2D laser rangefinders can be viewed in rviz as image data.

If an actual robot is communicating with a workstation that is running rviz, rviz will display the robot's current configuration on the virtual robot model. For example, if a real two-armed robot like Baxter has his arms in a certain pose, then the robot model will display that pose in rviz. The ROS topic containing arm configuration information...

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ROS Robotics By Example, Second Edition - Second Edition

Published in: Nov 2017

Publisher: Packt

ISBN-13: 9781788479592

© 2017 Packt Publishing Limited All Rights Reserved

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Authors (3)

Harman

Harman

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.

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Carol Fairchild

Carol Fairchild

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.

See other products by Carol Fairchild

Lentin Joseph

Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.

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