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Mastering ROS for Robotics Programming

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 Dec 2015

Publisher Packt

ISBN-13 9781783551798

Length 480 pages

Edition 1st Edition

Languages

C++

Tools

Ubuntu Server

Concepts

Robotics

Author (1):

Lentin Joseph

View More author details

Table of Contents (14) Chapters

Preface

1. Introduction to ROS and Its Package Management FREE CHAPTER

2. Working with 3D Robot Modeling in ROS

3. Simulating Robots Using ROS and Gazebo

4. Using the ROS MoveIt! and Navigation Stack

5. Working with Pluginlib, Nodelets, and Gazebo Plugins

6. Writing ROS Controllers and Visualization Plugins

7. Interfacing I/O Boards, Sensors, and Actuators to ROS

8. Programming Vision Sensors using ROS, Open-CV, and PCL

9. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS

10. Exploring the Advanced Capabilities of ROS-MoveIt!

11. ROS for Industrial Robots

12. Troubleshooting and Best Practices in ROS

Index

Chapter 8. Programming Vision Sensors using ROS, Open-CV, and PCL

In the last chapter, we discussed interfacing of sensors and actuators using I/O board in ROS. In this chapter, we are going to discuss how to interface various vision sensors in ROS and program it using libraries such as OpenCV (Open Source Computer Vision) and PCL (Point Cloud Library). The vision in a robot is an important aspect of the robot for manipulating object and navigation. There are lots of 2D/3D vision sensors available in the market and most of the sensors have an interface driver package in ROS. We will discuss interfacing of new vision sensors to ROS and programming it using OpenCV and PCL.

We will cover the following topics in this chapter:

Understanding ROS—OpenCV interfacing packages
Understanding ROS—PCL interfacing packages
Installing OpenCV and PCL interfaces in ROS
Interfacing USB webcams in ROS
Working with ROS camera calibration
Converting images between ROS and OpenCV using cv_bridge...

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Authors (1)

Lentin Joseph

Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.

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