- ROS Robotics By Example
- Table of Contents
- ROS Robotics By Example
- Credits
- About the Authors
- About the Reviewer
- www.PacktPub.com
- Preface
- 1. Getting Started with ROS
- What does ROS do and what are the benefits of learning ROS?
- Which robots are using ROS?
- Installing and launching ROS
- Creating a catkin workspace
- ROS packages and manifest
- ROS nodes and ROS Master
- Turtlesim, the first ROS robot simulation
- ROS commands summary
- Summary
- 2. Creating Your First Two-Wheeled ROS Robot (in Simulation)
- Rviz
- Creating and building a ROS package
- Building a differential drive robot URDF
- Gazebo
- Summary
- 3. Driving Around with TurtleBot
- Introducing TurtleBot
- Loading TurtleBot simulator software
- Launching TurtleBot simulator in Gazebo
- Setting up to control a real TurtleBot
- Networking the netbook and remote computer
- TurtleBot hardware specifications
- Move the real TurtleBot
- Introducing rqt tools
- TurtleBot's odometry
- TurtleBot automatic docking
- Summary
- 4. Navigating the World with TurtleBot
- 3D vision systems for TurtleBot
- Configuring TurtleBot and installing the 3D sensor software
- Testing the 3D sensor in standalone mode
- Running ROS nodes for visualization
- Navigating with TurtleBot
- Summary
- 5. Creating Your First Robot Arm (in Simulation)
- Features of Xacro
- Building an articulated robot arm URDF using Xacro
- Controlling an articulated robot arm in Gazebo
- Summary
- 6. Wobbling Robot Arms Using Joint Control
- Introducing Baxter
- Baxter's arms
- Loading the Baxter software
- Launching Baxter Simulator in Gazebo
- Baxter's arms and forward kinematics
- Introducing MoveIt
- Configuring a real Baxter setup
- Controlling a real Baxter
- Inverse kinematics
- Summary
- 7. Making a Robot Fly
- 8. Controlling Your Robots with External Devices
- 9. Flying a Mission with Crazyflie
- 10. Extending Your ROS Abilities
- Index
-
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