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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

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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 the ROS Navigation stack

The main aim of the ROS Navigation package is to move a robot from the start position to the goal position, without making any collision with the environment. The ROS Navigation package comes with an implementation of several navigation-related algorithms which can easily help implement autonomous navigation in the mobile robots.

The user only needs to feed the goal position of the robot and the robot odometry data from sensors such as wheel encoders, IMU, and GPS, along with other sensor data streams, such as laser scanner data or 3D point cloud from sensors such as Kinect. The output of the Navigation package will be the velocity commands that will drive the robot to the given goal position.

The Navigation stack contains the implementation of the standard algorithms, such as SLAM, A *(star), Dijkstra, amcl, and so on, which can directly be used in our application.