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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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Interfacing non-Arduino boards to ROS

Arduino boards are commonly used boards in robots, but what happens if we want a board that is more powerful than Arduino? In such a case, we may want to write our own driver for the board, which can convert the serial messages into topics.

We will look at the interfacing of a non-Arduino board called Tiva C Launchpad to ROS, using a Python driver node, in Chapter 11:Building and Interfacing Differential Drive Mobile Robot Hardware in ROS. This chapter is about interfacing a real mobile robot to ROS, and the robot using the Tiva C Launchpad board for its operation.

Setting ROS on Odroid-XU4 and Raspberry Pi 2

Odroid-XU4 and Raspberry Pi2 are single board computers which have a low form factor the size of a credit card. These single board computers can be installed in robots and we can install ROS on them.

The main specifications comparison of Odroid-XU4 and Raspberry Pi2 is shown next: