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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
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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
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Carol Fairchild
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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

Chapter 3. Driving Around with TurtleBot

It is time for a real ROS robot! A robot called TurtleBot will be discussed and described both in simulation and as the real robot. In this chapter, you will learn how to move TurtleBot as a simulated robot and as the real robot. Even if you do not have a real TurtleBot, the examples in this chapter will teach you the techniques to control a mobile robot.

After introducing TurtleBot 2, we will cover the following topics:

  • Loading the TurtleBot simulation software and using Gazebo with TurtleBot
  • Setting up your system to control a real TurtleBot from its own netbook computer or wirelessly from a remote computer
  • Controlling the movement of the TurtleBot with ROS terminal commands or using the keyboard for control in teleoperation
  • Creating a Python script which, when executed, moves TurtleBot
  • Using rqt tools to provide a GUI that aids the user in analyzing robot programs and also monitoring and controlling the robot
  • Exploring an environment using...
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