Summary

In this final chapter of the book, we have presented some concepts and references to further extend the capabilities you can endow on your robot. These new concepts should increase your desire to learn more about ROS. The concepts and robot examples presented in this book were meant to provide a solid foundation of ROS.

With the integration and influence of ROS extending to an ever increasing number of robots, this book attempts to cover the essential aspects of robotics systems as they relate to ROS. In the first chapter, we started with ROS fundamentals and used the Turtlesim simulation to demonstrate the concepts of ROS packages, nodes, topics, messages, and services. We continued by exploring a number of example robots that encompass a wide range of purposes:

• Mobile base in simulation (Turtlesim)

• Mobile base (TurtleBot)

• Air vehicle in simulation (Hector)

• Air vehicles (Crazyflie and Bebop)

• Manipulator robot (Baxter)

Along the way, ROS software was introduced that interfaces a variety...