Search icon CANCEL
Arrow left icon
Explore Products
Best Sellers
New Releases
Books
Videos
Audiobooks
Learning Hub
Conferences
Free Learning
Arrow right icon
ROS Robotics By Example, Second Edition
ROS Robotics By Example, Second Edition

ROS Robotics By Example, Second Edition: Learning to control wheeled, limbed, and flying robots using ROS Kinetic Kame , Second Edition

Arrow left icon
Profile Icon Harman Profile Icon Carol Fairchild Profile Icon Lentin Joseph
Arrow right icon
$54.99
Full star icon Full star icon Full star icon Full star icon Half star icon 4.3 (6 Ratings)
Paperback Nov 2017 484 pages 2nd Edition
eBook
$29.99 $43.99
Paperback
$54.99
Subscription
Free Trial
Renews at $19.99p/m
Arrow left icon
Profile Icon Harman Profile Icon Carol Fairchild Profile Icon Lentin Joseph
Arrow right icon
$54.99
Full star icon Full star icon Full star icon Full star icon Half star icon 4.3 (6 Ratings)
Paperback Nov 2017 484 pages 2nd Edition
eBook
$29.99 $43.99
Paperback
$54.99
Subscription
Free Trial
Renews at $19.99p/m
eBook
$29.99 $43.99
Paperback
$54.99
Subscription
Free Trial
Renews at $19.99p/m

What do you get with Print?

Product feature icon Instant access to your digital eBook copy whilst your Print order is Shipped
Product feature icon Paperback book shipped to your preferred address
Product feature icon Download this book in EPUB and PDF formats
Product feature icon Access this title in our online reader with advanced features
Product feature icon DRM FREE - Read whenever, wherever and however you want
Table of content icon View table of contents Preview book icon Preview Book

ROS Robotics By Example, Second Edition

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

Your first robot will be created in simulation so that even if you do not have a physical robot to learn ROS on, you will be able to follow along and do the exercises in this book. We will build a simple two-wheeled robot named dd_robot (dd is short for differential drive). We will build a Unified Robot Description Format (URDF) file for the robot that will describe the main components of our robot and enable it to be visualized and controlled by ROS tools, such as rviz and Gazebo. Rviz is a visualization tool in which we will view our dd_robot URDF file as we build it in increments. When the visual model is complete, we will modify the URDF file for use in the Gazebo simulator. In Gazebo, we can view the effects of physics on our model as we move our model around the 3D environment.

In this chapter, we will cover the following topics:

  • An introduction to rviz, installation instructions, and instructions for use...

Introducing rviz

Rviz, abbreviation for ROS visualization, is a powerful 3D visualization tool for ROS. It allows the user to view the robot model, display and/or log sensor information from the robot's sensors, and replay the logged sensor information. By visualizing what the robot is seeing, thinking, and doing, the user can debug a robot application from sensor inputs to planned (or unplanned) actions.

Rviz displays 3D sensor data from stereo cameras, lasers, Kinects, and other 3D devices in the form of point clouds or depth images. 2D sensor data from webcams, RGB cameras, and 2D laser rangefinders can be viewed in rviz as image data.

If an actual robot is communicating with a workstation that is running rviz, rviz will display the robot's current configuration on the virtual robot model. For example, if a real two-armed robot like Baxter has his arms in a certain pose, then the robot model will display that pose in rviz. The ROS topic containing arm configuration information...

Creating and building a ROS package

Before we begin to design and build our robot model in simulation, we should create our first ROS package. In Chapter 1, Getting Started with ROS, we created a ROS catkin workspace under /home/<username>/catkin_ws. The structure of a catkin workspace looks like this:

catkin_ws/                     -- WORKSPACE
build/                         -- BUILD SPACE
devel/                         -- DEVEL SPACE
src/                           -- SOURCE SPACE
CMakeLists.txt          -- 'Toplevel' CMake file, provided by catkin

Tip

Make sure that you have source ~/catkin_ws/devel/setup.bash in your .bashrc file, or this command is entered at the terminal window prompt.

We begin by moving to your catkin workspace source directory:

$ cd ~/catkin_ws/src

Now, let's create our first ROS package, ros_robotics:

$ catkin_create_pkg ros_robotics

This command will create a /ros_robotics directory under the ~/catkin_ws/src directory. The /ros_robotics directory...

Building a differential drive robot URDF

URDF is an XML format specifically defined to represent robot models down to their component level. These URDF files can become long and cumbersome on complex robot systems. XML Macros (Xacro) is an XML macro language created to make these robot description files easier to read and maintain. Xacro helps you reduce the duplication of information within the file.

For our first robot model, we will build a URDF file for a two-wheeled differential drive robot. The model will be created incrementally, and we will view the results at each step in rviz. When our simple two-wheeled robot is complete, we will add Gazebo formatting and view the model in Gazebo. In Chapter 5, Creating Your First Robot Arm (in Simulation), we will expand our knowledge of URDF files and build a simple robot arm model using the Xacro notation.

Note

Downloading the ros_robotics code

You can download the example code files and other support material for this book from the Packt Publishing...

Gazebo

Gazebo is a free and open source robot simulation environment developed by Willow Garage. As a multifunctional tool for ROS robot developers, Gazebo supports the following:

  • Designing of robot models
  • Rapid prototyping and testing of algorithms
  • Regression testing using realistic scenarios
  • Simulation of indoor and outdoor environments
  • Simulation of sensor data for laser range finders, 2D/3D cameras, kinect-style sensors, contact sensors, force-torque, and more
  • Advanced 3D objects and environments utilizing Object-Oriented Graphics Rendering Engine (OGRE)
  • Several high-performance physics engines (Open Dynamics Engine (ODE), Bullet, Simbody, and Dynamic Animation and Robotics Toolkit (DART)) to model the real-world dynamics

In this section, we will load our two-wheeled robot URDF into Gazebo to visualize it in a 3D environment. Gazebo allows you to take control of some aspects of our model without an external control program. In the later chapters, we will be using simulated versions of robots...

Summary

Your first robot design has been a simple two-wheeled differential drive model defined in URDF. There are many other properties that can be defined in the URDF file, and you are free to extend the dd_robot model. This introductory exercise was provided so that the elements of simulation can be understood by the reader. In an upcoming chapter, we will extend our understanding of URDF by learning about Xacro. We will build a Xacro file to define a robot model for a robot arm.

In Chapter 3, Driving Around with TurtleBot, we will use a simulated and a real TurtleBot to explore a variety of ROS control methods for mobile robot navigation. The rqt toolset will be introduced and used to monitor and control the TurtleBot's movements.

Left arrow icon Right arrow icon
Download code icon Download Code

Key benefits

  • Get to know the fundamentals of ROS and apply its concepts to real examples
  • Learn how to write robotics applications without getting bogged down in hardware problems
  • Learn to implement best practices in ROS development

Description

ROS is a robust robotics framework that works regardless of hardware architecture or hardware origin. It standardizes most layers of robotics functionality from device drivers to process control and message passing to software package management. But apart from just plain functionality, ROS is a great platform to learn about robotics itself and to simulate, as well as actually build, your first robots. This does not mean that ROS is a platform for students and other beginners; on the contrary, ROS is used all over the robotics industry to implement flying, walking and diving robots, yet implementation is always straightforward, and never dependent on the hardware itself. ROS Robotics has been the standard introduction to ROS for potential professionals and hobbyists alike since the original edition came out; the second edition adds a gradual introduction to all the goodness available with the Kinetic Kame release. By providing you with step-by-step examples including manipulator arms and flying robots, the authors introduce you to the new features. The book is intensely practical, with space given to theory only when absolutely necessary. By the end of this book, you will have hands-on experience on controlling robots with the best possible framework.

Who is this book for?

This book is for robotic enthusiasts, researchers and professional robotics engineers who would like to build robot applications using ROS. It gives the robotics beginner and the ROS newbie an immensely practical introduction to robot building and robotics application coding. Basic knowledge of GNU/Linux and the ability to write simple applications is assumed, but no robotics knowledge, practical or theoretical, is needed.

What you will learn

  • •Control a robot without requiring a PhD in robotics
  • •Simulate and control a robot arm
  • •Control a flying robot
  • •Send your robot on an independent mission
  • •Learning how to control your own robots with external devices
  • •Program applications running on your robot
  • •Extend ROS itself
  • •Extend ROS with the MATLAB Robotics System Toolbox
Estimated delivery fee Deliver to Egypt

Standard delivery 10 - 13 business days

$12.95

Premium delivery 3 - 6 business days

$34.95
(Includes tracking information)

Product Details

Country selected
Publication date, Length, Edition, Language, ISBN-13
Publication date : Nov 30, 2017
Length: 484 pages
Edition : 2nd
Language : English
ISBN-13 : 9781788479592
Category :
Languages :
Concepts :
Tools :

What do you get with Print?

Product feature icon Instant access to your digital eBook copy whilst your Print order is Shipped
Product feature icon Paperback book shipped to your preferred address
Product feature icon Download this book in EPUB and PDF formats
Product feature icon Access this title in our online reader with advanced features
Product feature icon DRM FREE - Read whenever, wherever and however you want
Estimated delivery fee Deliver to Egypt

Standard delivery 10 - 13 business days

$12.95

Premium delivery 3 - 6 business days

$34.95
(Includes tracking information)

Product Details

Publication date : Nov 30, 2017
Length: 484 pages
Edition : 2nd
Language : English
ISBN-13 : 9781788479592
Category :
Languages :
Concepts :
Tools :

Packt Subscriptions

See our plans and pricing
Modal Close icon
$19.99 billed monthly
Feature tick icon Unlimited access to Packt's library of 7,000+ practical books and videos
Feature tick icon Constantly refreshed with 50+ new titles a month
Feature tick icon Exclusive Early access to books as they're written
Feature tick icon Solve problems while you work with advanced search and reference features
Feature tick icon Offline reading on the mobile app
Feature tick icon Simple pricing, no contract
$199.99 billed annually
Feature tick icon Unlimited access to Packt's library of 7,000+ practical books and videos
Feature tick icon Constantly refreshed with 50+ new titles a month
Feature tick icon Exclusive Early access to books as they're written
Feature tick icon Solve problems while you work with advanced search and reference features
Feature tick icon Offline reading on the mobile app
Feature tick icon Choose a DRM-free eBook or Video every month to keep
Feature tick icon PLUS own as many other DRM-free eBooks or Videos as you like for just $5 each
Feature tick icon Exclusive print discounts
$279.99 billed in 18 months
Feature tick icon Unlimited access to Packt's library of 7,000+ practical books and videos
Feature tick icon Constantly refreshed with 50+ new titles a month
Feature tick icon Exclusive Early access to books as they're written
Feature tick icon Solve problems while you work with advanced search and reference features
Feature tick icon Offline reading on the mobile app
Feature tick icon Choose a DRM-free eBook or Video every month to keep
Feature tick icon PLUS own as many other DRM-free eBooks or Videos as you like for just $5 each
Feature tick icon Exclusive print discounts

Frequently bought together


Stars icon
Total $ 164.97
Mastering ROS for Robotics Programming
$54.99
ROS Robotics Projects
$54.99
ROS Robotics By Example, Second Edition
$54.99
Total $ 164.97 Stars icon

Table of Contents

11 Chapters
1. Getting Started with ROS Chevron down icon Chevron up icon
2. Creating Your First Two-Wheeled ROS Robot (in Simulation) Chevron down icon Chevron up icon
3. Driving Around with TurtleBot Chevron down icon Chevron up icon
4. Navigating the World with TurtleBot Chevron down icon Chevron up icon
5. Creating Your First Robot Arm (in Simulation) Chevron down icon Chevron up icon
6. Wobbling Robot Arms Using Joint Control Chevron down icon Chevron up icon
7. Making a Robot Fly Chevron down icon Chevron up icon
8. Controlling Your Robots with External Devices Chevron down icon Chevron up icon
9. Flying a Mission with Crazyflie Chevron down icon Chevron up icon
10. Controlling Baxter with MATLAB© Chevron down icon Chevron up icon
Index Chevron down icon Chevron up icon

Customer reviews

Top Reviews
Rating distribution
Full star icon Full star icon Full star icon Full star icon Half star icon 4.3
(6 Ratings)
5 star 66.7%
4 star 0%
3 star 33.3%
2 star 0%
1 star 0%
Filter icon Filter
Top Reviews

Filter reviews by




Reg Berka Dec 22, 2017
Full star icon Full star icon Full star icon Full star icon Full star icon 5
A superb and concise book on the Robot Operating System and its applications. With many 'how to' examples I have found this book to be a very useful addition to my library. This book is particularly useful for applications using mobile robots, but the principles apply as well to fixed base robots and complex applications. I recommend it for anyone starting to learn ROS or as a reference for the more experienced programmer.
Amazon Verified review Amazon
Luong Nguyen Feb 27, 2018
Full star icon Full star icon Full star icon Full star icon Full star icon 5
This is one of the best books to buy if you are new to ROS. It provides the many details that are not usually found in other books on ROS and which help users learn quickly. Highly recommended.
Amazon Verified review Amazon
Nate Wiggins Feb 28, 2018
Full star icon Full star icon Full star icon Full star icon Full star icon 5
ROS Robotics by Example is an excellent way to get yourself immersed in the technology of the future. I was following examples for the turtlebot so that I can learn some new skills and couldn't help but notice that I could hack our drone too! ROS is the future of robotics and this book is perfect for a robotics or CS course and a must-have for the new generation of engineers.
Amazon Verified review Amazon
Francisco Reveriano Nov 09, 2018
Full star icon Full star icon Full star icon Full star icon Full star icon 5
This is a must buy for anyone wanting to work with ROS.It easy to read through. And provides plenty of easy to read explanation.
Amazon Verified review Amazon
Cliente Amazon Jan 18, 2021
Full star icon Full star icon Full star icon Empty star icon Empty star icon 3
Personalmente ho fatto\faccio fatica a seguirlo. Speravo di riuscire a capire meglio ma probabilmente mi mancano troppe basi con l'ambiente Linux. Chi ne sa di più probabilmente lo può trovare interessante, io al momento ho bisogno di altri libri più semplici.
Amazon Verified review Amazon
Get free access to Packt library with over 7500+ books and video courses for 7 days!
Start Free Trial

FAQs

What is the delivery time and cost of print book? Chevron down icon Chevron up icon

Shipping Details

USA:

'

Economy: Delivery to most addresses in the US within 10-15 business days

Premium: Trackable Delivery to most addresses in the US within 3-8 business days

UK:

Economy: Delivery to most addresses in the U.K. within 7-9 business days.
Shipments are not trackable

Premium: Trackable delivery to most addresses in the U.K. within 3-4 business days!
Add one extra business day for deliveries to Northern Ireland and Scottish Highlands and islands

EU:

Premium: Trackable delivery to most EU destinations within 4-9 business days.

Australia:

Economy: Can deliver to P. O. Boxes and private residences.
Trackable service with delivery to addresses in Australia only.
Delivery time ranges from 7-9 business days for VIC and 8-10 business days for Interstate metro
Delivery time is up to 15 business days for remote areas of WA, NT & QLD.

Premium: Delivery to addresses in Australia only
Trackable delivery to most P. O. Boxes and private residences in Australia within 4-5 days based on the distance to a destination following dispatch.

India:

Premium: Delivery to most Indian addresses within 5-6 business days

Rest of the World:

Premium: Countries in the American continent: Trackable delivery to most countries within 4-7 business days

Asia:

Premium: Delivery to most Asian addresses within 5-9 business days

Disclaimer:
All orders received before 5 PM U.K time would start printing from the next business day. So the estimated delivery times start from the next day as well. Orders received after 5 PM U.K time (in our internal systems) on a business day or anytime on the weekend will begin printing the second to next business day. For example, an order placed at 11 AM today will begin printing tomorrow, whereas an order placed at 9 PM tonight will begin printing the day after tomorrow.


Unfortunately, due to several restrictions, we are unable to ship to the following countries:

  1. Afghanistan
  2. American Samoa
  3. Belarus
  4. Brunei Darussalam
  5. Central African Republic
  6. The Democratic Republic of Congo
  7. Eritrea
  8. Guinea-bissau
  9. Iran
  10. Lebanon
  11. Libiya Arab Jamahriya
  12. Somalia
  13. Sudan
  14. Russian Federation
  15. Syrian Arab Republic
  16. Ukraine
  17. Venezuela
What is custom duty/charge? Chevron down icon Chevron up icon

Customs duty are charges levied on goods when they cross international borders. It is a tax that is imposed on imported goods. These duties are charged by special authorities and bodies created by local governments and are meant to protect local industries, economies, and businesses.

Do I have to pay customs charges for the print book order? Chevron down icon Chevron up icon

The orders shipped to the countries that are listed under EU27 will not bear custom charges. They are paid by Packt as part of the order.

List of EU27 countries: www.gov.uk/eu-eea:

A custom duty or localized taxes may be applicable on the shipment and would be charged by the recipient country outside of the EU27 which should be paid by the customer and these duties are not included in the shipping charges been charged on the order.

How do I know my custom duty charges? Chevron down icon Chevron up icon

The amount of duty payable varies greatly depending on the imported goods, the country of origin and several other factors like the total invoice amount or dimensions like weight, and other such criteria applicable in your country.

For example:

  • If you live in Mexico, and the declared value of your ordered items is over $ 50, for you to receive a package, you will have to pay additional import tax of 19% which will be $ 9.50 to the courier service.
  • Whereas if you live in Turkey, and the declared value of your ordered items is over € 22, for you to receive a package, you will have to pay additional import tax of 18% which will be € 3.96 to the courier service.
How can I cancel my order? Chevron down icon Chevron up icon

Cancellation Policy for Published Printed Books:

You can cancel any order within 1 hour of placing the order. Simply contact customercare@packt.com with your order details or payment transaction id. If your order has already started the shipment process, we will do our best to stop it. However, if it is already on the way to you then when you receive it, you can contact us at customercare@packt.com using the returns and refund process.

Please understand that Packt Publishing cannot provide refunds or cancel any order except for the cases described in our Return Policy (i.e. Packt Publishing agrees to replace your printed book because it arrives damaged or material defect in book), Packt Publishing will not accept returns.

What is your returns and refunds policy? Chevron down icon Chevron up icon

Return Policy:

We want you to be happy with your purchase from Packtpub.com. We will not hassle you with returning print books to us. If the print book you receive from us is incorrect, damaged, doesn't work or is unacceptably late, please contact Customer Relations Team on customercare@packt.com with the order number and issue details as explained below:

  1. If you ordered (eBook, Video or Print Book) incorrectly or accidentally, please contact Customer Relations Team on customercare@packt.com within one hour of placing the order and we will replace/refund you the item cost.
  2. Sadly, if your eBook or Video file is faulty or a fault occurs during the eBook or Video being made available to you, i.e. during download then you should contact Customer Relations Team within 14 days of purchase on customercare@packt.com who will be able to resolve this issue for you.
  3. You will have a choice of replacement or refund of the problem items.(damaged, defective or incorrect)
  4. Once Customer Care Team confirms that you will be refunded, you should receive the refund within 10 to 12 working days.
  5. If you are only requesting a refund of one book from a multiple order, then we will refund you the appropriate single item.
  6. Where the items were shipped under a free shipping offer, there will be no shipping costs to refund.

On the off chance your printed book arrives damaged, with book material defect, contact our Customer Relation Team on customercare@packt.com within 14 days of receipt of the book with appropriate evidence of damage and we will work with you to secure a replacement copy, if necessary. Please note that each printed book you order from us is individually made by Packt's professional book-printing partner which is on a print-on-demand basis.

What tax is charged? Chevron down icon Chevron up icon

Currently, no tax is charged on the purchase of any print book (subject to change based on the laws and regulations). A localized VAT fee is charged only to our European and UK customers on eBooks, Video and subscriptions that they buy. GST is charged to Indian customers for eBooks and video purchases.

What payment methods can I use? Chevron down icon Chevron up icon

You can pay with the following card types:

  1. Visa Debit
  2. Visa Credit
  3. MasterCard
  4. PayPal
What is the delivery time and cost of print books? Chevron down icon Chevron up icon

Shipping Details

USA:

'

Economy: Delivery to most addresses in the US within 10-15 business days

Premium: Trackable Delivery to most addresses in the US within 3-8 business days

UK:

Economy: Delivery to most addresses in the U.K. within 7-9 business days.
Shipments are not trackable

Premium: Trackable delivery to most addresses in the U.K. within 3-4 business days!
Add one extra business day for deliveries to Northern Ireland and Scottish Highlands and islands

EU:

Premium: Trackable delivery to most EU destinations within 4-9 business days.

Australia:

Economy: Can deliver to P. O. Boxes and private residences.
Trackable service with delivery to addresses in Australia only.
Delivery time ranges from 7-9 business days for VIC and 8-10 business days for Interstate metro
Delivery time is up to 15 business days for remote areas of WA, NT & QLD.

Premium: Delivery to addresses in Australia only
Trackable delivery to most P. O. Boxes and private residences in Australia within 4-5 days based on the distance to a destination following dispatch.

India:

Premium: Delivery to most Indian addresses within 5-6 business days

Rest of the World:

Premium: Countries in the American continent: Trackable delivery to most countries within 4-7 business days

Asia:

Premium: Delivery to most Asian addresses within 5-9 business days

Disclaimer:
All orders received before 5 PM U.K time would start printing from the next business day. So the estimated delivery times start from the next day as well. Orders received after 5 PM U.K time (in our internal systems) on a business day or anytime on the weekend will begin printing the second to next business day. For example, an order placed at 11 AM today will begin printing tomorrow, whereas an order placed at 9 PM tonight will begin printing the day after tomorrow.


Unfortunately, due to several restrictions, we are unable to ship to the following countries:

  1. Afghanistan
  2. American Samoa
  3. Belarus
  4. Brunei Darussalam
  5. Central African Republic
  6. The Democratic Republic of Congo
  7. Eritrea
  8. Guinea-bissau
  9. Iran
  10. Lebanon
  11. Libiya Arab Jamahriya
  12. Somalia
  13. Sudan
  14. Russian Federation
  15. Syrian Arab Republic
  16. Ukraine
  17. Venezuela