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

Product type Paperback

Published in Feb 2018

Publisher Packt

ISBN-13 9781788478953

Length 580 pages

Edition 2nd Edition

Languages

C++

Tools

ROS

Concepts

Design

Authors (2):

Lentin Joseph

Jonathan Cacace

View More author details

Table of Contents (17) Chapters

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

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Understanding ROS - PCL interfacing packages

The point cloud data can be defined as a group of data points in some coordinate system. In 3D, it has x, y, and z coordinates. The PCL library is an open source project for handling 2D/3D images and point cloud processing.

Like OpenCV, it is under BSD license, and free for academic and commercial purposes. It is also a cross-platform packages that has support in Linux, Windows, macOS, and Android/iOS.

The library consists of standard algorithms for filtering, segmentation, feature estimation, and so on, which are required to implement different point cloud applications. The main web page of the point cloud library can be found at http://pointclouds.org/.

The point cloud data can be acquired by sensors such as Kinect, Asus Xtion Pro, Intel Real Sense, and others. We can use this data for robotic applications, such as robot object manipulation and grasping. PCL is tightly integrated into ROS for handling point cloud data from various sensors. The...