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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 Feb 2018

Publisher Packt

ISBN-13 9781788478953

Length 580 pages

Edition 2nd Edition

Languages

C++

Tools

ROS

Concepts

Design

Authors (2):

Lentin Joseph

Jonathan Cacace

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Table of Contents (17) Chapters

Preface

1. Introduction to ROS FREE CHAPTER

2. Getting Started with ROS Programming

3. Working with 3D Robot Modeling in ROS

4. Simulating Robots Using ROS and Gazebo

5. Simulating Robots Using ROS and V-REP

6. Using the ROS MoveIt! and Navigation Stack

7. Working with pluginlib, Nodelets, and Gazebo Plugins

8. Writing ROS Controllers and Visualization Plugins

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

10. Programming Vision Sensors Using ROS, Open CV, and PCL

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

12. Exploring the Advanced Capabilities of ROS-MoveIt!

13. Using ROS in MATLAB and Simulink

14. ROS for Industrial Robots

15. Troubleshooting and Best Practices in ROS

16. Other Books You May Enjoy

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What is the Arduino-ROS interface?

Most of the communication between PCs and I/O boards in robots will be through the UART protocol. When both the devices communicate with each other, there should be some program in both the sides that can translate the serial commands from each of these devices. We can implement our own logic to receive and transmit the data from board to PC and vice versa. The interfacing code can be different in each I/O board because there are no standard libraries to do this communication.

The Arduino-ROS interface is a standard way of communication between the Arduino boards and the PC. Currently, this interface is exclusive for Arduino. We may need to write custom nodes to interface with other I/O boards.

We can use the similar C++ APIs of ROS used in the PC in the Arduino IDE also for programming the Arduino board. Detailed information about the interfacing package follows.