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Robot Operating System Cookbook
Robot Operating System Cookbook

Robot Operating System Cookbook: Over 70 recipes to help you master advanced ROS concepts

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Robot Operating System Cookbook

ROS Architecture and Concepts I

In this chapter, we will discuss the following recipes:

  • Exploring the ROS filesystem
  • Analyzing the ROS computation graph
  • Associating with the ROS community
  • Learning working with ROS

Introduction

In the previous chapter, we learned how to install ROS. Subsequently, in this chapter, we will look into the ROS architecture and concepts along with its components. Furthermore, we will learn how to create and use the ROS components—nodes, packages messages, services, and much more, with examples.

The ROS architecture and design has been divided into three sections or levels of concepts:

  • The ROS filesystem: In this level, a group of concepts is used to explain how ROS is internally formed, the folder structure, and the minimum number of files that it needs to work.
  • The ROS computation graph: In this section, we will see all the concepts and mechanisms which are required to set up the ROS computational network and environment, handle all the processes, and communicate with more than a single computer, and so on.
  • The ROS community: This level is of great...

Exploring the ROS filesystem

The main purpose of the ROS filesystem is to centralize the build process of a project, while at the same time providing enough flexibility to decentralize its dependencies. Nevertheless, the ROS filesystem is one of the important concepts to understand while developing projects in ROS, but, with time and patience, the developer will easily become familiar with it and realize its usefulness in managing complex projects and their dependencies:

ROS filesystem

Getting ready

Similar to an operating system, an ROS filesystem is divided into folders, and these folders have files that describe their functionalities:

ROS package
  • ROS Packages: The ROS software is organized in the form of packages, as...

Analyzing the ROS computation graph

ROS creates a computational network where all the processes are connected. Any process in the system can access this network, interact with other processes, observe the information that they are sending, and transmit data to the network. In general, they perform collaborative computational tasks.

Getting ready

This computation network can be called the computation graph. The basic concepts in the computation graph are ROS nodes, master, parameter server, messages, topics, services, and bags. Each concept in the computational graph has a specific contribution in different ways.

The ROS communication-related packages, including core client libraries, such as roscpp and rospython, and the implementation...

Associating with the ROS community

ROS is a large project that has many ancestors and contributors. The need for an open collaboration framework was felt by many people in the robotics research community. The effort was boosted by countless researchers who contributed their time and expertise to the core of ROS and its fundamental software packages. Throughout, the software was developed in the open using the permissive BSD open source license, and it gradually became widely used in the robotics research community.

The ROS ecosystem now consists of tens of thousands of users worldwide, working in domains ranging from tabletop hobby projects to large industrial automation systems.

Getting ready

The ROS community-level concepts...

Learning working with ROS

In the preceding section, we learned about the basic concept and terminology required to start with the ROS computational network framework. Subsequently, in this section, we will focus mostly on the practical aspect.

Getting ready

Before running any ROS nodes, we should start the ROS master and the ROS parameter server. We can start ROS master and the ROS parameter server using a single command called roscore, which will start three programs by default; ROS master, ROS parameter server, and rosout logging nodes.

How to do it...

It is time for...

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Key benefits

  • •Delve into an open source, meta-operating system for your robot
  • •Get acquainted with tools and libraries for building and running code on multiple platforms
  • •Use Gazebo to model your robot and create a virtual environment

Description

This book will leverage the power of ROS with an introduction to its core and advanced concepts through exciting recipes. You will get acquainted with the use of different synchronous and asynchronous communication methods, including messages, services, and actions. You will learn how to use the various debugging and visualization tools used in development and how to interface sensors and actuators with the ROS framework. Firstly, you will get to grips with ROS simulation frameworks, such as Gazebo and RotorS for modeling and simulating any physical robot and virtual environment. You will also cover mobile robotics, micro-aerial vehicles, and robotic arms, which are the leading branches of robotic applications. Robot Operating System Cookbook will also guide you in the development of an autonomous navigation framework for both mobile robots and micro-aerial vehicles. Finally, you will explore ROS-Industrial, an open source project that extends the advanced capabilities of ROS software to manufacturing industries.

Who is this book for?

If you’re a researcher or engineer with an interest in the problems, solutions, and future research issues that you may encounter in the development of robotic applications, this book is for you. Basic knowledge of C++ and Python programming with the GNU/Linux environment is strongly recommended to assist with understanding the key concepts covered in the book.

What you will learn

  • Explore advanced concepts, such as ROS pluginlib, nodelets, and actionlib
  • Work with ROS visualization, profiling, and debugging tools
  • Gain experience in robot modeling and simulation using Gazebo
  • Understand the ROS Navigation Stack for mobile robots
  • Configure a MoveIt! package for a manipulator robot
  • Develop an autonomous navigation framework for MAV using ORB SLAM and MoveIt
  • Integrate sensors, actuators, and robots into the ROS ecosystem
  • Get acquainted with the ROS-Industrial package with hardware support, capabilities, and applications
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Publication date : Jun 29, 2018
Length: 484 pages
Edition : 1st
Language : English
ISBN-13 : 9781783987443
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Frequently bought together


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Learning Robotics using Python
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Table of Contents

11 Chapters
Getting Started with ROS Chevron down icon Chevron up icon
ROS Architecture and Concepts I Chevron down icon Chevron up icon
ROS Architecture and Concepts – II Chevron down icon Chevron up icon
ROS Visualization and Debugging Tools Chevron down icon Chevron up icon
Accessing Sensors and Actuators through ROS Chevron down icon Chevron up icon
ROS Modeling and Simulation Chevron down icon Chevron up icon
Mobile Robot in ROS Chevron down icon Chevron up icon
The Robotic Arm in ROS Chevron down icon Chevron up icon
Micro Aerial Vehicles in ROS Chevron down icon Chevron up icon
ROS-Industrial (ROS-I) 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 Empty star icon Empty star icon Empty star icon 2
(2 Ratings)
5 star 0%
4 star 0%
3 star 0%
2 star 100%
1 star 0%
SingularRiver Feb 04, 2019
Full star icon Full star icon Empty star icon Empty star icon Empty star icon 2
The content of this book is mostly reproduction of online tutorials including code examples. It may help someone who is new to ROS to follow a structure table of content. But most of the content can be accessed through ROS Wiki.
Amazon Verified review Amazon
Blaq Surfer Jan 21, 2019
Full star icon Full star icon Empty star icon Empty star icon Empty star icon 2
This book is completely cloned from the freely available ROS tutorials. Word for word, code for code. Disappointed. If I knew this, I would have just gone with the ROS tutorials instead. DO NOT BUY. Unless of course you would like to donate to charity.
Amazon Verified review Amazon
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