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Home > IoT & Hardware > Robotics > Mastering ROS for Robotics Programming
Mastering ROS for Robotics Programming
Mastering ROS for Robotics Programming

Mastering ROS for Robotics Programming: Design, build, and simulate complex robots using the Robot Operating System

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Profile Icon Lentin Joseph
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Mastering ROS for Robotics Programming

Chapter 2. Working with 3D Robot Modeling in ROS

The first phase of robot manufacturing is its design and modeling. We can design and model the robot using CAD tools such as AutoCAD, Solid Works, Blender, and so on. One of the main purposes of modeling robot is simulation.

The robotic simulation tool can check the critical flaws in the robot design and can confirm the working of the robot before it goes to the manufacturing phase.

The virtual robot model must have all the characteristics of real hardware, the shape of robot may or may not look like the actual robot but it must be an abstract, which has all the physical characteristics of the actual robot.

In this chapter, we are going to discuss the designing of two robots. One is a seven DOF ( Degrees of Freedom) manipulator and the other is a differential drive robot. In the upcoming chapters, we can see its simulation and how to build the real hardware and finally, it's interfacing to ROS.

If we are planning to create the...

ROS packages for robot modeling

ROS provides some good packages that can be used to build 3D robot models. In this section, we will discuss some of the important ROS packages that are commonly used to build robot models:

  • robot_model: ROS has a meta package called robot_model, which contains important packages that help build the 3D robot models. We can see all the important packages inside this meta-package:
    • urdf: One of the important packages inside the robot_model meta package is urdf. The URDF package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML file to represent a robot model.
  • We can define a robot model, sensors, and a working environment using URDF and can parse it using URDF parsers. We can only describe a robot in URDF that has a tree-like structure in its links, that is, the robot will have rigid links and will be connected using joints. Flexible links can't be represented using URDF. The URDF is composed using special XML tags and we...

Understanding robot modeling using URDF

We have discussed the urdf package. In this section, we will look further at the URDF XML tags, which help to model the robot. We have to create a file and write the relationship between each link and joint in the robot and save the file with the .urdf extension.

The URDF can represent the kinematic and dynamic description of the robot, visual representation of the robot, and the collision model of the robot.

The following tags are the commonly used URDF tags to compose a URDF robot model:

  • link: The link tag represents a single link of a robot. Using this tag, we can model a robot link and its properties. The modeling includes size, shape, color, and can even import a 3D mesh to represent the robot link. We can also provide dynamic properties of the link such as inertial matrix and collision properties.

    The syntax is as follows:

    <link name="<name of the link>">
<inertial>...........</inertial>
  <visual> ..........

Creating the ROS package for the robot description

Before creating the URDF file for the robot, let's create a ROS package in the catkin workspace so that the robot model keeps using the following command:

$ catkin_create_pkg mastering_ros_robot_description_pkg roscpp tf geometry_msgs urdf rviz xacro

The package mainly depends on the urdf and xacro packages, and we can create the urdf file of the robot inside this package and create launch files to display the created urdf in RViz. The full package is available on the following Git repository, you can clone the repository for a reference to implement this package or you can get the package from the book's source code:

$ git clone https://github.com/qboticslabs/mastering_ros_robot_description_pkg.git

Before creating the urdf file for this robot, let's create three folders called urdf, meshes, and launch inside the package folder. The urdf folder can be used to keep the urdf/xacro files that we are going to create. The meshes...

Creating our first URDF model

After learning about URDF and its important tags, we can start some basic modeling using URDF. The first robot mechanism that we are going to design is a pan and tilt mechanism as shown in the following figure.

There are three links and two joints in this mechanism. The base link is static, in which all other links are mounted. The first joint can pan on its axis and the second link is mounted on the first link and it can tilt on its axis. The two joints in this system are of a revolute type.

Creating our first URDF model

Figure 4 : Visualization of a pan and tilt mechanism in RViz

Let's see the URDF code of this mechanism. Navigate to chapter_2_code/mastering_ros_robot_description_pkg/urdf and open pan_tilt.urdf. The code indentation in URDF is not mandatory for URDF but it keeping indentation can improve code readability:

<?xml version="1.0"?>
<robot name="pan_tilt">

  <link name="base_link">
    <visual>
      <geometry>
...

Explaining the URDF file

When we check the code, we can add a <robot> tag at the top of the description:

<?xml version="1.0"?>
<robot name="pan_tilt">

The <robot> tag defines the name of the robot that we are going to create. Here, we named the robot pan_tilt.

If we check the sections after the <robot> tag definition, we can see link and joint definitions of the pan and tilt mechanism:

  <link name="base_link">
    <visual>
      <geometry>
      <cylinder length="0.01" radius="0.2"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="yellow">
        <color rgba="1 1 0 1"/>
      </material>
    </visual>
  </link>

The preceding code snippet is the base_link definition of the pan and tilt mechanism. The <visual> tag can describe the visual appearance of the link, which is shown...

ROS packages for robot modeling

ROS provides some good packages that can be used to build 3D robot models. In this section, we will discuss some of the important ROS packages that are commonly used to build robot models:

  • robot_model: ROS has a meta package called robot_model, which contains important packages that help build the 3D robot models. We can see all the important packages inside this meta-package:

    • urdf: One of the important packages inside the robot_model meta package is urdf. The URDF package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML file to represent a robot model.

  • We can define a robot model, sensors, and a working environment using URDF and can parse it using URDF parsers. We can only describe a robot in URDF that has a tree-like structure in its links, that is, the robot will have rigid links and will be connected using joints. Flexible links can't be represented using URDF. The URDF is composed using special XML tags and we can...

Understanding robot modeling using URDF

We have discussed the urdf package. In this section, we will look further at the URDF XML tags, which help to model the robot. We have to create a file and write the relationship between each link and joint in the robot and save the file with the .urdf extension.

The URDF can represent the kinematic and dynamic description of the robot, visual representation of the robot, and the collision model of the robot.

The following tags are the commonly used URDF tags to compose a URDF robot model:

  • link: The link tag represents a single link of a robot. Using this tag, we can model a robot link and its properties. The modeling includes size, shape, color, and can even import a 3D mesh to represent the robot link. We can also provide dynamic properties of the link such as inertial matrix and collision properties.

    The syntax is as follows:

    <link name="<name of the link>">
<inertial>...........</inertial>
  <visual> ............</visual...

Creating the ROS package for the robot description

Before creating the URDF file for the robot, let's create a ROS package in the catkin workspace so that the robot model keeps using the following command:

$ catkin_create_pkg mastering_ros_robot_description_pkg roscpp tf geometry_msgs urdf rviz xacro

The package mainly depends on the urdf and xacro packages, and we can create the urdf file of the robot inside this package and create launch files to display the created urdf in RViz. The full package is available on the following Git repository, you can clone the repository for a reference to implement this package or you can get the package from the book's source code:

$ git clone https://github.com/qboticslabs/mastering_ros_robot_description_pkg.git

Before creating the urdf file for this robot, let's create three folders called urdf, meshes, and launch inside the package folder. The urdf folder can be used to keep the urdf/xacro files that we are going to create. The meshes folder keeps...

Creating our first URDF model

After learning about URDF and its important tags, we can start some basic modeling using URDF. The first robot mechanism that we are going to design is a pan and tilt mechanism as shown in the following figure.

There are three links and two joints in this mechanism. The base link is static, in which all other links are mounted. The first joint can pan on its axis and the second link is mounted on the first link and it can tilt on its axis. The two joints in this system are of a revolute type.

Figure 4 : Visualization of a pan and tilt mechanism in RViz

Let's see the URDF code of this mechanism. Navigate to chapter_2_code/mastering_ros_robot_description_pkg/urdf and open pan_tilt.urdf. The code indentation in URDF is not mandatory for URDF but it keeping indentation can improve code readability:

<?xml version="1.0"?>
<robot name="pan_tilt">

  <link name="base_link">
    <visual>
      <geometry>
      <cylinder length="0.01" radius...

Explaining the URDF file

When we check the code, we can add a <robot> tag at the top of the description:

<?xml version="1.0"?>
<robot name="pan_tilt">

The <robot> tag defines the name of the robot that we are going to create. Here, we named the robot pan_tilt.

If we check the sections after the <robot> tag definition, we can see link and joint definitions of the pan and tilt mechanism:

  <link name="base_link">
    <visual>
      <geometry>
      <cylinder length="0.01" radius="0.2"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="yellow">
        <color rgba="1 1 0 1"/>
      </material>
    </visual>
  </link>

The preceding code snippet is the base_link definition of the pan and tilt mechanism. The <visual> tag can describe the visual appearance of the link, which is shown on the robot simulation. We can define the link geometry (cylinder, box, sphere, or mesh...

Visualizing the robot 3D model in RViz

After designing URDF, we can view it on RViz. We can create a view_demo.launch launch file and put the following code into the launch folder. Navigate to chapter_2_code/mastering_ros_robot_description_pkg/launch for the same code:

<launch>
  <arg name="model" />
  <param name="robot_description" textfile="$(find mastering_ros_robot_description_pkg)/urdf/pan_tilt.urdf" />
  <param name="use_gui" value="true"/>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mastering_ros_robot_description_pkg)/urdf.rviz" required="true" />

</launch>

We can launch the model using the following command:

$ roslaunch mastering_ros_robot_description_pkg view_demo.launch

If everything works fine, we will get a pan and tilt mechanism...

Adding physical and collision properties to a URDF model

Before simulating a robot in a robot simulator, such as Gazebo, V-REP, and so on, we need to define the robot link's physical properties such as geometry, color, mass, and inertia, and the collision properties of the link.

We will only get good simulation results if we define all these properties inside the robot model. URDF provides tags to include all these parameters and code snippets of base_link contained in theses properties as given here:

<link>
......    
<collision>
      <geometry>
      <cylinder length="0.03" radius="0.2"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>

    <inertial>
    <mass value="1"/>
    <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
...........
</link>

Here, we define the collision geometry as cylinder and the mass as 1 Kg, and we also set the inertial matrix of...

Understanding robot modeling using xacro

The flexibility of URDF reduces when we work with complex robot models. Some of the main features that URDF is missing are the simplicity, reusability, modularity, and programmability.

If someone wants to reuse a URDF block ten times in his robot description, he can copy and paste the block ten times. If there is an option to use this code block and make multiple copies with different settings, it will be very useful while creating the robot description.

The URDF is single file and we can't include other URDF files inside it. This reduces the modular nature of the code. All code should be in a single file, which reduces the code simplicity too.

Also, if there is some programmability, such as adding variable, constants, mathematical expressions, conditional statement, and so on, in the description language, it will be more user friendly.

The robot modeling using xacro meets all these conditions and some of the main features of xacro are as follows:

  • Simplify...

Conversion of xacro to URDF

After designing the xacro file, we can use the following command to convert it into a UDRF file:

$ rosrun xacro xacro.py pan_tilt.xacro > pan_tilt_generated.urdf

We can use the following line in the ROS launch file for converting xacro to UDRF and use it as a robot_description parameter:

  <param name="robot_description" command="$(find xacro)/xacro.py $(find mastering_ros_robot_description_pkg)/urdf/pan_tilt.xacro" />

We can view the xacro of pan and tilt by making a launch file, and it can be launched using the following command:

$ roslaunch mastering_ros_robot_description_pkg view_pan_tilt_xacro.launch
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Key benefits

  • • Develop complex robotic applications using ROS for interfacing robot manipulators and mobile robots with the help of high end robotic sensors
  • • Gain insights into autonomous navigation in mobile robot and motion planning in robot manipulators
  • • Discover the best practices and troubleshooting solutions everyone needs when working on ROS

Description

The area of robotics is gaining huge momentum among corporate people, researchers, hobbyists, and students. The major challenge in robotics is its controlling software. The Robot Operating System (ROS) is a modular software platform to develop generic robotic applications. This book discusses the advanced concepts in robotics and how to program using ROS. It starts with deep overview of the ROS framework, which will give you a clear idea of how ROS really works. During the course of the book, you will learn how to build models of complex robots, and simulate and interface the robot using the ROS MoveIt motion planning library and ROS navigation stacks. After discussing robot manipulation and navigation in robots, you will get to grips with the interfacing I/O boards, sensors, and actuators of ROS. One of the essential ingredients of robots are vision sensors, and an entire chapter is dedicated to the vision sensor, its interfacing in ROS, and its programming. You will discuss the hardware interfacing and simulation of complex robot to ROS and ROS Industrial (Package used for interfacing industrial robots). Finally, you will get to know the best practices to follow when programming using ROS.

Who is this book for?

If you are a robotics enthusiast or researcher who wants to learn more about building robot applications using ROS, this book is for you. In order to learn from this book, you should have a basic knowledge of ROS, GNU/Linux, and C++ programming concepts. The book will also be good for programmers who want to explore the advanced features of ROS.

What you will learn

  • •Create a robot model of a Seven-DOF robotic arm and a differential wheeled mobile robot
  • • Work with motion planning of a Seven-DOF arm using MoveIt!
  • • Implement autonomous navigation in differential drive robots using SLAM and AMCL packages in ROS
  • • Dig deep into the ROS Pluginlib, ROS nodelets, and Gazebo plugins
  • • Interface I/O boards such as Arduino, Robot sensors, and High end actuators with ROS
  • • Simulation and motion planning of ABB and Universal arm using ROS Industrial
  • • Explore the ROS framework using its latest version
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Length: 480 pages
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Language : English
ISBN-13 : 9781783551798
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Languages :
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Language : English
ISBN-13 : 9781783551798
Category :
IoT & Hardware
Languages :
C++
Concepts :
Robotics
Tools :
Ubuntu Server

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Table of Contents

13 Chapters
1. Introduction to ROS and Its Package Management Chevron down icon Chevron up icon
1. Introduction to ROS and Its Package Management
Why should we learn ROS?
Why we prefer ROS for robots
Why some do not prefer ROS for robots
Understanding the ROS file system level
Understanding the ROS computation graph level
Understanding ROS community level
Questions
Summary
2. Working with 3D Robot Modeling in ROS Chevron down icon Chevron up icon
2. Working with 3D Robot Modeling in ROS
ROS packages for robot modeling
Understanding robot modeling using URDF
Creating the ROS package for the robot description
Creating our first URDF model
Explaining the URDF file
Visualizing the robot 3D model in RViz
Adding physical and collision properties to a URDF model
Understanding robot modeling using xacro
Conversion of xacro to URDF
Creating the robot description for a seven DOF robot manipulator
Explaining the xacro model of seven DOF arm
Creating a robot model for the differential drive mobile robot
Questions
Summary
3. Simulating Robots Using ROS and Gazebo Chevron down icon Chevron up icon
3. Simulating Robots Using ROS and Gazebo
Simulating the robotic arm using Gazebo and ROS
Questions
Summary
4. Using the ROS MoveIt! and Navigation Stack Chevron down icon Chevron up icon
4. Using the ROS MoveIt! and Navigation Stack
Installing MoveIt!
Generating MoveIt! configuration package using Setup Assistant tool
Step 1 – Launching the Setup Assistant tool
Motion planning of robot in RViz using MoveIt! configuration package
Understanding ROS Navigation stack
Building a map using SLAM
Questions
Summary
5. Working with Pluginlib, Nodelets, and Gazebo Plugins Chevron down icon Chevron up icon
5. Working with Pluginlib, Nodelets, and Gazebo Plugins
Understanding pluginlib
Understanding the Gazebo plugins
Questions
Summary
6. Writing ROS Controllers and Visualization Plugins Chevron down icon Chevron up icon
6. Writing ROS Controllers and Visualization Plugins
Understanding pr2_mechanism packages
Writing a basic real-time joint controller in ROS
Understanding ros_control packages
Understanding ROS visualization tool (RViz) and its plugins
Writing a RViz plugin for teleoperation
Questions
Summary
7. Interfacing I/O Boards, Sensors, and Actuators to ROS Chevron down icon Chevron up icon
7. Interfacing I/O Boards, Sensors, and Actuators to ROS
Understanding the Arduino–ROS interface
What is the Arduino–ROS interface?
Interfacing Dynamixel actuators to ROS
Questions
Summary
8. Programming Vision Sensors using ROS, Open-CV, and PCL Chevron down icon Chevron up icon
8. Programming Vision Sensors using ROS, Open-CV, and PCL
Understanding ROS – OpenCV interfacing packages
Understanding ROS – PCL interfacing packages
Interfacing USB webcams in ROS
Working with ROS camera calibration
Interfacing Kinect and Asus Xtion Pro in ROS
Interfacing Intel Real Sense camera with ROS
Interfacing Hokuyo Laser in ROS
Interfacing Velodyne LIDAR in ROS
Working with point cloud data
Streaming webcam from Odroid using ROS
Questions
Summary
9. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS Chevron down icon Chevron up icon
9. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
Introduction to Chefbot- a DIY mobile robot and its hardware configuration
Questions
Summary
10. Exploring the Advanced Capabilities of ROS-MoveIt! Chevron down icon Chevron up icon
10. Exploring the Advanced Capabilities of ROS-MoveIt!
Motion planning using the move_group C++ interface
Collision checking in robot arm using MoveIt!
Working with perception using MoveIt! and Gazebo
Grasping using MoveIt!
Working with robot pick and place task using MoveIt!
Pick and place action in Gazebo and real Robot
Understanding Dynamixel ROS Servo controllers for robot hardware interfacing
Interfacing seven DOF Dynamixel based robotic arm to ROS MoveIt!
Questions
Summary
11. ROS for Industrial Robots Chevron down icon Chevron up icon
11. ROS for Industrial Robots
Understanding ROS-Industrial packages
Installing ROS-Industrial packages
Block diagram of ROS-Industrial packages
Creating URDF for an industrial robot
Creating MoveIt! configuration for an industrial robot
Installing ROS-Industrial packages of universal robotic arm
Understanding the Moveit! configuration of a universal robotic arm
Working with MoveIt! configuration of ABB robots
Understanding the ROS-Industrial robot support packages
ROS-Industrial robot client package
ROS-Industrial robot driver package
Understanding MoveIt! IKFast plugin
Creating the MoveIt! IKFast plugin for the ABB-IRB6640 robot
Creating the COLLADA file of a robot to work with OpenRave
Generating the IKFast CPP file for the IRB 6640 robot
Questions
Summary
12. Troubleshooting and Best Practices in ROS Chevron down icon Chevron up icon
12. Troubleshooting and Best Practices in ROS
Setting up Eclipse IDE on Ubuntu 14.04.3
Setting ROS development environment in Eclipse IDE
Best practices in ROS
Best practices in the ROS package
Important troubleshooting tips in ROS
Questions
Summary
Index Chevron down icon Chevron up icon
Index

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Good covers Indigo an Jade, unlike the OSRF book, which was outdated by the time it got to press.
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Neil John Feb 01, 2016
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This book contain detail description about R.O.S and its new features !!Really loved it !!
Amazon Verified review Amazon
Cattaneo A. Apr 09, 2016
Full star icon Full star icon Full star icon Full star icon Full star icon 5
Proprio quello che volevo, spiega tt di ros e delle nuove funzioni, per capirloServe una base di c e dell'ambiente Linux , cosigliato per chi come me sta' preparando laTesi in ing. robotica
Amazon Verified review Amazon
Amazon Customer Dec 21, 2016
Full star icon Full star icon Full star icon Full star icon Full star icon 5
Nicely and quick delivery. Decently packed in a compact recipient so that it fits the mailbox.Very good and detailed book, however not for a novice.
Amazon Verified review Amazon
Bukworm Mar 29, 2017
Full star icon Full star icon Full star icon Full star icon Empty star icon 4
Nicely written book!
Amazon Verified review Amazon

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About the author

Profile icon Lentin Joseph
Lentin Joseph
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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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UK:

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Add one extra business day for deliveries to Northern Ireland and Scottish Highlands and islands

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Delivery time is up to 15 business days for remote areas of WA, NT & QLD.

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Disclaimer:
All orders received before 5 PM U.K time would start printing from the next business day. So the estimated delivery times start from the next day as well. Orders received after 5 PM U.K time (in our internal systems) on a business day or anytime on the weekend will begin printing the second to next business day. For example, an order placed at 11 AM today will begin printing tomorrow, whereas an order placed at 9 PM tonight will begin printing the day after tomorrow.


Unfortunately, due to several restrictions, we are unable to ship to the following countries:

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  4. Brunei Darussalam
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  11. Libiya Arab Jamahriya
  12. Somalia
  13. Sudan
  14. Russian Federation
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