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ROS Robotics Projects

You're reading from   ROS Robotics Projects Make your robots see, sense, and interact with cool and engaging projects with Robotic Operating System

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Product type Paperback
Published in Mar 2017
Publisher Packt
ISBN-13 9781783554713
Length 452 pages
Edition 1st Edition
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Author (1):
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Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
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Table of Contents (13) Chapters Close

Preface 1. Getting Started with ROS Robotics Application Development FREE CHAPTER 2. Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos 3. Building a Siri-Like Chatbot in ROS 4. Controlling Embedded Boards Using ROS 5. Teleoperate a Robot Using Hand Gestures 6. Object Detection and Recognition 7. Deep Learning Using ROS and TensorFlow 8. ROS on MATLAB and Android 9. Building an Autonomous Mobile Robot 10. Creating a Self-Driving Car Using ROS 11. Teleoperating a Robot Using a VR Headset and Leap Motion 12. Controlling Your Robots over the Web

Gmapping and localization in Chefbot


After launching the ROS driver, we can teleop the robot using keyboard teleop. We can use the following command to start keyboard teleoperation:

$ roslaunch chefbot_bringup keyboard_teleop.launch

If we want to map the robot environment, we can start the gmapping launch file like we did in the simulation:

$ roslaunch chefbot_bringup gmapping_demo.launch

You can visualize the map building in Rviz using the following command:

$ roslaunch chefbot_bringup view_navigation.launch

You can build the map by teleoperating the robot around the room. After mapping, save the map as we did in the simulation:

$ rosrun map_server map_saver -f ~/test_map

After getting the map, launch AMCL nodes to perform final navigation. You have to restart all the launch files and start again.

Let's look at the commands to launch the AMCL nodes.

First, start the ROS driver nodes using the following command:

$ roslaunch chefbot_bringup robot_standalone.launch

Now start the AMCL nodes:

...
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