Using ROS with UAVs
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
The ROS wiki currently contains the following list of ROS quadrotors and quadcopters:
- AscTec Pelican and Hummingbird quadrotors
- Bitcraze Crazyflie
- Erle-Copter
- Navio2
View the list at http://wiki.ros.org/Robots in the future for additions to this list and the website http://www.ros.org/news/robots/uavs/ to get the latest ROS UAV news.
A number of universities have adopted using the AscTec Hummingbird as their ROS UAV of choice. For this book, we present a simulator called Hector Quadrotor and two real quadrotors that use ROS: Crazyflie and Bebop.
-
No Comment
..................Content has been hidden....................
You can't read the all page of ebook, please click here login for view all page.