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Mastering ROS for Robotics Programming

You're reading from   Mastering ROS for Robotics Programming Design, build, and simulate complex robots using the Robot Operating System

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Product type Paperback
Published in Feb 2018
Publisher Packt
ISBN-13 9781788478953
Length 580 pages
Edition 2nd Edition
Languages
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Concepts
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Authors (2):
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Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
LinkedIn
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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Jonathan Cacace Jonathan Cacace
Author Profile Icon Jonathan Cacace
Jonathan Cacace
LinkedIn
Jonathan Cacace was born in Naples, Italy, on December 13, 1987. He received his Master's degree in computer science, and a Ph.D. degree in Information and Automation Engineering, from the University of Naples Federico II.nnCurrently, he is an Assistant Professor at the University of Naples Federico II. He is also a member of PRISMA Lab where he is involved in different research projects focused on industrial and service robotics in which he has developed several ROS-based applications integrating robot perception and control.
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Toc

Table of Contents (17) Chapters Close

Preface 1. Introduction to ROS FREE CHAPTER 2. Getting Started with ROS Programming 3. Working with 3D Robot Modeling in ROS 4. Simulating Robots Using ROS and Gazebo 5. Simulating Robots Using ROS and V-REP 6. Using the ROS MoveIt! and Navigation Stack 7. Working with pluginlib, Nodelets, and Gazebo Plugins 8. Writing ROS Controllers and Visualization Plugins 9. Interfacing I/O Boards, Sensors, and Actuators to ROS 10. Programming Vision Sensors Using ROS, Open CV, and PCL 11. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS 12. Exploring the Advanced Capabilities of ROS-MoveIt! 13. Using ROS in MATLAB and Simulink 14. ROS for Industrial Robots 15. Troubleshooting and Best Practices in ROS 16. Other Books You May Enjoy

Understanding the ROS visualization tool (RViz) and its plugins

The RViz tool is an official 3D visualization tool of ROS. Almost all kinds of data from sensors can be viewed through this tool. RViz will be installed along with the ROS desktop full installation. Let's launch RViz and see the basic components present in RViz.

Start roscore:

$ roscore

Start rviz:

$ rviz

The important sections of the RViz GUI are marked, and the uses of each section are shown in the following screenshot:

Displays panel

The panel on the left side of the RViz is called the Displays panel. The Displays panel contains a list of the display plugins of RViz and its properties. The main use of display plugins is to visualize different types of ROS messages, mainly sensor data in the RViz 3D viewport. There are lots of display plugins already present in RViz for viewing images from the camera, and for viewing the 3D point cloud, LaserScan, robot model, TF, and so on. Plugins can be added by pressing the Add button on the...

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Authors (1)

Profile icon Lentin Joseph
Lentin Joseph
LinkedIn icon
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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See other products by Lentin Joseph

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