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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 FREE CHAPTER

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

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

Launching TurtleBot 3 simulation in rviz

The TurtleBot 3 rviz simulation is created and controlled by the turtlebot3_fake_node node.

This node generates the model of the TurtleBot in rviz and allows for it to be run with a teleop node.

Be sure that your ROS IP environment variables are set to localhost or to the IP address of your computer. In your first terminal window, set the environment variable for the Turtlebot 3 model you wish to use in the rviz simulation. Either burger or waffle can be selected for the model parameter. For our examples, we have chosen the model to be burger:

$ export TURTLEBOT3_MODEL=burger

Then type the following command to launch the simulation:

$ roslaunch turtlebot3_fake turtlebot3_fake.launch

Three nodes are started: robot_state_publisher, rviz, and turtlebot3_fake_node. The following screenshot should appear:

TurtleBot 3 in rviz

Now you can control the simulated TurtleBot with the keyboard. Open a second terminal window and type the following command:

$ roslaunch...

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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.

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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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