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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

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Product type Paperback
Published in Nov 2017
Publisher Packt
ISBN-13 9781788479592
Length 484 pages
Edition 2nd Edition
Languages
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Concepts
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Authors (3):
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Dr. Thomas L. Harman Dr. Thomas L. Harman
Author Profile Icon Dr. Thomas L. Harman
Dr. Thomas L. Harman
Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
Carol Fairchild Carol Fairchild
Author Profile Icon Carol Fairchild
Carol Fairchild
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Toc

Table of Contents (12) Chapters Close

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

Configuring TurtleBot and installing the 3D sensor software

There are minor but important environmental variables and software that are needed for the TurtleBot based on your selection of 3D sensors. We have attached a Kinect Xbox 360 sensor to our TurtleBot, but we will provide instructions to configure each of the 3D sensors mentioned in this chapter. These environmental variables are used by the ROS launch files to launch the correct camera drivers. In ROS Kinetic, the Kinect, ASUS, and RealSense sensors are supported by different camera drivers, as described in the following sections.

Kinect

The environmental variables for the Kinect sensors are as follows:

export KINECT_DRIVER=freenect
export TURTLEBOT_3D_SENSOR=kinect

These variables should be added to the ~/.bashrc files of both the TurtleBot and the remote computer. For mapping and navigation a common 3dsensor launch file is utilized and these environment variables identify the 3D vision sensor attached to TurtleBot.

Libfreenect is...

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