Which robots are using ROS?
by Dr. Thomas L. Harman, Carol Fairchild
ROS Robotics By Example - Second Edition
- ROS Robotics By Example Second Edition
- Table of Contents
- ROS Robotics By Example Second Edition
- Credits
- About the Authors
- About the Reviewer
- www.PacktPub.com
- Customer Feedback
- 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, topics, and messages
- Turtlesim – the first ROS robot simulation
- ROS commands summary
- Summary
- 2. Creating Your First Two-Wheeled ROS Robot (in Simulation)
- Introducing rviz
- Creating and building a ROS package
- Building a differential drive robot URDF
- Gazebo
- Summary
- 3. Driving Around with TurtleBot
- Introducing TurtleBot 2
- Loading TurtleBot 2 simulator software
- Launching TurtleBot 2 simulator in Gazebo
- Setting up to control a real TurtleBot 2
- Networking the netbook and remote computer
- TurtleBot 2 hardware specifications
- Moving the real TurtleBot 2
- Introducing rqt tools
- TurtleBot's odometry
- TurtleBot 2 automatic docking
- Introducing TurtleBot 3
- Loading TurtleBot 3 simulation software
- Launching TurtleBot 3 simulation in rviz
- Launching TurtleBot 3 simulation in Gazebo
- Hardware assembly and testing
- Loading TurtleBot 3 software
- Networking TurtleBot 3 and the remote computer
- Moving the real TurtleBot 3
- 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
- 7. Making a Robot Fly
- 8. Controlling Your Robots with External Devices
- 9. Flying a Mission with Crazyflie
- 10. Controlling Baxter with MATLAB©
- Index
There is a long list of robots on the ROS wiki website, http://wiki.ros.org/Robots, which use ROS. For example, we are using four different robots in this book to provide you with an experience of a wide range of ROS capabilities. These robots are as follows:
The images of these robots are in the following figures:
TurtleBot 2 and 3
Of course, not everyone has the opportunity to use real robots such as Baxter (shown in the following image):
Baxter in the authors' laboratory
However, there is good news! Using the ROS Gazebo software, you can simulate Baxter as well as many other robots whose models are provided for Gazebo. We will simulate TurtleBot using Gazebo and actually design our own mobile robot in the upcoming chapters of this book.
Bebop and Crazyflie
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