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ROS Robotics By Example, Second Edition

You're reading from ROS Robotics By Example, Second Edition Learning to control wheeled, limbed, and flying robots using ROS Kinetic Kame

Product type Paperback

Published in Nov 2017

Publisher Packt

ISBN-13 9781788479592

Length 484 pages

Edition 2nd Edition

Languages

MATLAB

Tools

ROS

Concepts

Robotics

Authors (3):

Dr. Thomas L. Harman

Lentin Joseph

Carol Fairchild

View More author details

Table of Contents (12) Chapters

Preface

1. Getting Started with ROS

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

3. Driving Around with TurtleBot

4. Navigating the World with TurtleBot

5. Creating Your First Robot Arm (in Simulation)

6. Wobbling Robot Arms Using Joint Control

7. Making a Robot Fly

8. Controlling Your Robots with External Devices

9. Flying a Mission with Crazyflie

10. Controlling Baxter with MATLAB©

Index

Chapter 1. Getting Started with ROS

In this chapter, we will introduce the Robot Operating System (ROS), which is a collection of software packages to aid researchers and developers using robotic systems. After we discuss the instructions to install ROS on your computer system using the Ubuntu operating system, the ROS architecture and many of its components are discussed. This will aid you in understanding the use of ROS to develop software for robotic applications.

ROS will be introduced in terms of its elements and their functions. An understanding of the ROS vocabulary is necessary to become proficient in using ROS to create programs for the control of real or simulated robots as well as devices, such as cameras.

To make the discussion more concrete, the turtlesim simulator will be presented with various examples of the ROS command usage. This simulator is part of ROS and it provides an excellent introduction to the capabilities of ROS.

In this chapter, we will cover the following topics:

What ROS is and which robots use ROS
How to install and launch ROS on your computer
How to navigate the ROS directories
An introduction to ROS packages, nodes, and topics
Examples of useful ROS commands
How to use ROS commands with the turtlesim simulator

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Authors (3)

Harman

Harman

Dr. Thomas L. Harman is the chair of the engineering division at UHCL. His research interests are control systems and applications of robotics and microprocessors. Several of his research papers with colleagues involve robotic and laser applications in medicine. In 2005, he was selected as the UHCL Distinguished Professor. He has been a judge and safety advisor for the FIRST robotic contests in Houston. Dr. Harman has authored or coauthored 18 books on subjects including microprocessors, MATLAB and Simulink applications, and the National Electrical Code. His laboratory at UHCL has a Baxter two-armed robot and several TurtleBots as well as other robots.

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Carol Fairchild

Carol Fairchild

Carol Fairchild is the owner and principal engineer of Fairchild Robotics, a robotics development and integration company. She is a researcher at Baxter's Lab at the University of Houston–Clear Lake (UHCL) and a member of the adjunct faculty. Her research involves the use of Baxter for expanded applications. Ms. Fairchild has been involved in many aspects of robotics from her earliest days of building her first robot, a Heathkit Hero. She has an MS in computer engineering from UHCL and a BS in engineering technology from Texas A&M. Ms. Fairchild has taught middle-school robotics, coached FLL, and volunteered for FIRST Robotics in Houston.

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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.

See other products by Lentin Joseph

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