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ROS Robotics Projects

You're reading from   ROS Robotics Projects Make your robots see, sense, and interact with cool and engaging projects with Robotic Operating System

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Product type Paperback
Published in Mar 2017
Publisher Packt
ISBN-13 9781783554713
Length 452 pages
Edition 1st Edition
Languages
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Concepts
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Author (1):
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Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
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Table of Contents (13) Chapters Close

Preface 1. Getting Started with ROS Robotics Application Development 2. Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos FREE CHAPTER 3. Building a Siri-Like Chatbot in ROS 4. Controlling Embedded Boards Using ROS 5. Teleoperate a Robot Using Hand Gestures 6. Object Detection and Recognition 7. Deep Learning Using ROS and TensorFlow 8. ROS on MATLAB and Android 9. Building an Autonomous Mobile Robot 10. Creating a Self-Driving Car Using ROS 11. Teleoperating a Robot Using a VR Headset and Leap Motion 12. Controlling Your Robots over the Web

ROS tools

ROS has a variety of GUI and command-line tools to inspect and debug messages. Let's look at some commonly used ones.

Rviz (ROS Visualizer)

Rviz (http://wiki.ros.org/rviz) is one of the 3D visualizers available in ROS to visualize 2D and 3D values from ROS topics and parameters. Rviz helps visualize data such as robot models, robot 3D transform data (TF), point cloud, laser and image data, and a variety of different sensor data.

Rviz (ROS Visualizer)

Figure 10: Point cloud data visualized in Rviz

rqt_plot

The rqt_plot program (http://wiki.ros.org/rqt_plot) is a tool for plotting scalar values that are in the form of ROS topics. We can provide a topic name in the Topic box.

rqt_plot

Figure 11: rqt_plot

rqt_graph

The rqt_graph (http://wiki.ros.org/rqt_graph) ROS GUI tool can visualize the graph of interconnection between ROS nodes.

rqt_graph

Figure 12: rqt_graph

Note

The complete list of ROS tools is available at the following link: http://wiki.ros.org/Tools

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