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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

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Product type Paperback
Published in Nov 2017
Publisher Packt
ISBN-13 9781788479592
Length 484 pages
Edition 2nd Edition
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Authors (3):
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Dr. Thomas L. Harman Dr. Thomas L. Harman
Author Profile Icon Dr. Thomas L. Harman
Dr. Thomas L. Harman
Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
Carol Fairchild Carol Fairchild
Author Profile Icon Carol Fairchild
Carol Fairchild
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Toc

Table of Contents (12) Chapters Close

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

Summary

The aim of this chapter was to stretch your knowledge of ROS by implementing an advanced practical experience to identify and highlight some of the ROS advantages. A ROS system of nodes was created to visualize the environment in which a Crazyflie quadrotor was seen and controlled. The Kinect for Windows v2 depth camera was used to visualize this environment, and ROS nodes handled the detection of markers on the Crazyflie and the target. The location of the Crazyflie was identified in Cartesian coordinates (x, y, z), with the x and y values referring to the quadrotor's position in the image frame and z referring to its distance from the camera. These coordinates were converted into a tf transform and published. The target location was published in a message by a separate ROS node.

The advantage of ROS layers of tf and message passing leaves lower-level details to be handled by another dedicated node. The tf transform for the Crazyflie was used by a controller node to apply PID...

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