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ROS Robotics Projects,
ROS Robotics Projects,

ROS Robotics Projects,: Build and control robots powered by the Robot Operating System, machine learning, and virtual reality , Second Edition

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ROS Robotics Projects,

Introduction to ROS-2 and Its Capabilities

ROS or, to be more specific, ROS-1, has helped robotics reach a different milestone in the open source community. While there were difficulties connecting the hardware and software and synchronizing them, ROS-1 paved the way for a simple communication strategy that has helped the community to connect any sophisticated sensor to a microcomputer or microcontroller with ease. Over the past decade, ROS-1 has grown and has a huge package list, where each and every package solves a problem either in bits or in full, and has eliminated the concept of reinventing the wheel. These packages have led to a whole new way of looking at robotics and providing intelligence to the currently available systems. Connecting several such smaller packages could create a new complex autonomous system on its own.

Though ROS-1 has given us the liberty of communicating...

Technical requirements

Let's look into the technical requirements for this chapter:

  • ROS 2 (source installation) on Ubuntu 18.04 (Bionic)
  • Timelines and test platform:
    • Estimated learning time: On average, 90 minutes
    • Project build time (inclusive of compile and run time): On average, 60 minutes
    • Project test platform: HP Pavilion laptop (Intel® Core™ i7-4510U CPU @ 2.00 GHz × 4 with 8 GB Memory and 64-bit OS, /GNOME-3.28.2)

The code for this chapter is available at https://github.com/PacktPublishing/ROS-Robotics-Projects-SecondEdition/tree/master/chapter_2_ws/src/ros2_talker.

Now, let's get started with ROS-2.

Getting started with ROS-2

ROS-2 is a deterministic effort toward improving the communication network framework that will be used with real-time systems and production-ready solutions. ROS-2 aims to do the following:

  • Provide secure communication between components
  • Communicate in real time
  • Connect multiple robots with ease
  • Improve the quality of communication irrespective of the communication medium
  • Provide an ROS layer directly onto hardware, such as sensors and embedded boards
  • Use the latest software improvements

Remember the ROS equation diagram from the previous chapter? ROS-2 follows the exact same equation but in a different manner:

ROS equation with DDS implementation (source: ros.org. Licensed under Creative Commons CC-BY-3.0: https://creativecommons.org/licenses/by/3.0/us/legalcode)

ROS-2 follows an industrial standard and implements real-time communication through...

Fundamentals of ROS-2

In ROS-1, the user code would connect to the ROS client libraries (such as rospy or roscpp) and they would communicate directly with other nodes from within the network, whereas in ROS-2, the ROS client libraries act like an abstraction layer and connect to another layer that communicates with the network using other nodes through DDS implementation. A simple comparison is shown here:

Comparison between ROS-1 and ROS-2

As you can see, in ROS-2, the communication with the OS layer and further down to the hardware layer is done through DDS implementation. The DDS component in the preceding diagram is vendor-specific and implemented by the vendors.

The abstract DDS layer component is connected via ROS-2 and helps the user connect their code through DDS implementation. This way, the user need not be explicitly aware of the DDS APIs as they come through ROS-2...

ROS-2 client libraries (RCL)

As we saw in the previous chapter, ROS client libraries are nothing but APIs for implementing ROS concepts. Hence, we can directly use them in our user code to access ROS concepts such as nodes, services, and topics. ROS client libraries come with the ease of connecting with multiple programming languages.

Since each programming language has its own advantages and disadvantages, it's left to the users to decide which to choose from. For instance, if a system is concerned with efficiency and faster response rates, you could choose rclcpp, and if the system demands prototyping as a priority with respect to the development time that's utilized, you could choose rclpy.

The ROS client libraries in ROS-2 are split into two sections: one is language-specific (such as rclcpp, rclpy, and rcljava) and the other contains common functionalities that...

ROS-2 tools

Unlike ROS-1, ROS-2 provides tools for debugging message logs and topic information as well. ROS-2 supports visual and command-line tools. However, since there is heavy development in ROS-2, not all the tools have been ported yet. You can still use ROS-1 tools using a ROS-1 to ROS-2 bridge (shown in the upcoming sections) for development.

Rviz2

Rviz is the exact same as how it was defined in ROS-1. The following table shows the features that have currently been ported from ros-visualization/rviz to ros2/rviz:

Displays Tools View controller Panels
Camera Move Camera Orbit Displays
Fluid Pressure Focus Camera XY Orbit Help
Grid Measure First Person Selections
Grid Cells Select Third Person Follower...

Installing ROS-2

In the previous chapter, we used the package manager to set up the ROS-1 environment, desktop, pull keys, and startup installation. ROS-2 is no different and the same method can be followed (but obviously using different setup keys and commands). However, unlike ROS-1, where we followed the Debian package installation technique, we will try the source installation technique in this chapter for installing ROS-2, although you can use the Debian package installation technique as well. It is best to build ROS-2 manually on Linux (that is, via source installation) so that we can add any new changes or releases directly into the package and compile them. Let's get started with the source installation.

Getting started with the installation

...

Setting up the ROS-2 workspace

A ROS workspace is a directory where we keep the ROS packages. As you saw in the preceding setup, you know that the build technique that's used in ROS-2 is colcon instead of catkin, which was used in ROS-1. The workspace layout is a bit different in ROS-2. Colcon does out of source builds and creates the following folders:

  • The build folder is where intermediate files are stored.
  • The install folder is where each package will be installed.
  • The log folder is where all the logging information is available.
  • The src folder is where the source code is placed.
Note that there is no devel folder like there is in ROS-1.

As the build steps were already explained and tried out while building the ROS-2 packages, let's quickly look at the commands that are needed to build any ROS-2 workspace.

Let's consider the ros2_examples_ws package for demonstration...

Writing ROS-2 nodes

Writing nodes in ROS-2 is comparatively different from ROS-1 due to the introduction of the additional software layers we saw in the Fundamentals of ROS-2 section. However, OSRF has ensured there isn't a huge difference while writing the ROS-2 code in order to save time and effort. In this section, we'll compare ROS-1 code and ROS-2 code and find out the differences in their usage.

Note that this is just an example section and if you want to write a ROS-2-specific package for your project, I would recommend that you go through the ROS-2 tutorials page (https://index.ros.org/doc/ros2/Tutorials/), which contains the necessary information.

ROS-1 example code

Let's consider the traditional publish...

Bridging ROS-1 and ROS-2

As we already know, ROS-2 is still under heavy development and there isn't a proper long-term release. Hence, writing nodes in ROS-2 directly or porting them to ROS-2 immediately would be an arduous task. There is an option where you could still use ROS-1 packages with ROS-2 packages to develop your projects. This is done through a package called ros1_bridge.

It is actually an ROS-2 package, which establishes the automatic or manual mapping of messages, topics, and services and communicates between ROS-1 and ROS-2 nodes. It could subscribe to messages in a ROS version and then publish them in the other ROS version. This package comes in handy when you would like to use a simulator such as Gazebo with ROS-2 to test your project. There's only a limited number of messages supported in the ros1_bridge package at the time of writing. Hopefully, other...

Summary

This chapter was an introductory chapter to ROS-2 and introduced us to its features and capabilities compared to ROS-1. We understood how different the build systems are and how the nodes are written. We also wrote custom nodes and compared them to how they're written in ROS-1. Since ROS-2 is under development, we also learned how to make use of ros1_bridge, which helps us use ROS-1 packages and tools alongside ROS-2. From the next chapter onward, we shall begin working with interesting robot projects using ROS-1.

In the next chapter, we will learn how to build an industrial mobile manipulator.

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Key benefits

  • Create and program cool robotic projects using powerful ROS libraries
  • Build industrial robots like mobile manipulators to handle complex tasks
  • Learn how reinforcement learning and deep learning are used with ROS

Description

Nowadays, heavy industrial robots placed in workcells are being replaced by new age robots called cobots, which don't need workcells. They are used in manufacturing, retail, banks, energy, and healthcare, among other domains. One of the major reasons for this rapid growth in the robotics market is the introduction of an open source robotics framework called the Robot Operating System (ROS). This book covers projects in the latest ROS distribution, ROS Melodic Morenia with Ubuntu Bionic (18.04). Starting with the fundamentals, this updated edition of ROS Robotics Projects introduces you to ROS-2 and helps you understand how it is different from ROS-1. You'll be able to model and build an industrial mobile manipulator in ROS and simulate it in Gazebo 9. You'll then gain insights into handling complex robot applications using state machines and working with multiple robots at a time. This ROS book also introduces you to new and popular hardware such as Nvidia's Jetson Nano, Asus Tinker Board, and Beaglebone Black, and allows you to explore interfacing with ROS. You'll learn as you build interesting ROS projects such as self-driving cars, making use of deep learning, reinforcement learning, and other key AI concepts. By the end of the book, you'll have gained the confidence to build interesting and intricate projects with ROS.

Who is this book for?

If you’re a student, hobbyist, professional, or anyone with a passion for learning robotics and interested in learning about algorithms, motion control, and perception capabilities from scratch, this book is for you. This book is also ideal for anyone who wants to build a new product and for researchers to make the most of what’s already available to create something new and innovative in the field of robotics.

What you will learn

  • Grasp the basics of ROS and understand ROS applications
  • Uncover how ROS-2 is different from ROS-1
  • Handle complex robot tasks using state machines
  • Communicate with multiple robots and collaborate to build apps with them
  • Explore ROS capabilities with the latest embedded boards such as Tinker Board S and Jetson Nano
  • Discover how machine learning and deep learning techniques are used with ROS
  • Build a self-driving car powered by ROS
  • Teleoperate your robot using Leap Motion and a VR headset
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Publication date : Dec 18, 2019
Length: 456 pages
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Language : English
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Table of Contents

13 Chapters
Getting Started with ROS Chevron down icon Chevron up icon
Introduction to ROS-2 and Its Capabilities Chevron down icon Chevron up icon
Building an Industrial Mobile Manipulator Chevron down icon Chevron up icon
Handling Complex Robot Tasks Using State Machines Chevron down icon Chevron up icon
Building an Industrial Application Chevron down icon Chevron up icon
Multi-Robot Collaboration Chevron down icon Chevron up icon
ROS on Embedded Platforms and Their Control Chevron down icon Chevron up icon
Reinforcement Learning and Robotics Chevron down icon Chevron up icon
Deep Learning Using ROS and TensorFlow Chevron down icon Chevron up icon
Creating a Self-Driving Car Using ROS Chevron down icon Chevron up icon
Teleoperating Robots Using a VR Headset and Leap Motion Chevron down icon Chevron up icon
Face Detection and Tracking Using ROS, OpenCV, and Dynamixel Servos Chevron down icon Chevron up icon
Other Books You May Enjoy Chevron down icon Chevron up icon

Customer reviews

Rating distribution
Full star icon Full star icon Half star icon Empty star icon Empty star icon 2.3
(3 Ratings)
5 star 0%
4 star 33.3%
3 star 0%
2 star 33.3%
1 star 33.3%
NA May 13, 2021
Full star icon Full star icon Full star icon Full star icon Empty star icon 4
Good read but don't have what I was looking for but good info though
Amazon Verified review Amazon
walnut405 Jun 26, 2021
Full star icon Full star icon Empty star icon Empty star icon Empty star icon 2
目次にROS2があったので期待したけど、ほんのさわりだけだった。残念。基本的に、コンピュータ関連の書籍は、海外の方が内容が新しくて詳しいけど、robot関連は違うようだ。
Amazon Verified review Amazon
Daddy Joe Jan 02, 2022
Full star icon Empty star icon Empty star icon Empty star icon Empty star icon 1
Can't get past the installations of ROS1 and ROS2. Soooo many errors and failures, there is no way I could trust the remainder of the book with that much lack of concern with accuracy. I returned the trash.
Amazon Verified review Amazon
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