- Why do we perform robotic simulation?
- How can we add sensors into a Gazebo simulation?
- What are the different types of ROS controllers and hardware interfaces?
- How can we move the mobile robot in a Gazebo simulation?
- Title Page
- Copyright and Credits
- www.PacktPub.com
- Contributors
- Preface
- Introduction to ROS
- Getting Started with ROS Programming
- 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 3D robot model in RViz
- Adding physical and collision properties to a URDF model
- Understanding robot modeling using xacro
- Converting xacro to URDF
- Creating the robot description for a seven DOF robot manipulator
- Explaining the xacro model of the seven DOF arm
- Creating a robot model for the differential drive mobile robot
- Questions
- Summary
- Simulating Robots Using ROS and Gazebo
- Simulating Robots Using ROS and V-REP
- Using the ROS MoveIt! and Navigation Stack
- Installing MoveIt!
- Generating MoveIt! configuration package using the Setup Assistant tool
- Step 1 – Launching the Setup Assistant tool
- Step 2 – Generating the Self-Collision matrix
- Step 3 – Adding virtual joints
- Step 4 – Adding planning groups
- Step 5 – Adding the robot poses
- Step 6 – Setting up the robot end effector
- Step 7 – Adding passive joints
- Step 8 – Author information
- Step 9 – Generating configuration files
- Motion planning of robot in RViz using MoveIt! configuration package
- Using the RViz Motion Planning plugin
- Interfacing the MoveIt! configuration package to Gazebo
- Step 1 – Writing the controller configuration file for MoveIt!
- Step 2 – Creating the controller launch files
- Step 3 – Creating the controller configuration file for Gazebo
- Step 4 – Creating the launch file for Gazebo trajectory controllers
- Step 5 – Debugging the Gazebo- MoveIt! interface
- Understanding the ROS Navigation stack
- Installing the ROS Navigation stack
- Building a map using SLAM
- Questions
- Summary
- Working with pluginlib, Nodelets, and Gazebo Plugins
- Understanding pluginlib
- Creating plugins for the calculator application using pluginlib
- Working with the pluginlib_calculator package
- Step 1 - Creating the calculator_base header file
- Step 2 - Creating the calculator_plugins header file
- Step 3 - Exporting plugins using the calculator_plugins.cpp
- Step 4 - Implementing  the plugin loader using the calculator_loader.cpp
- Step 5 - Creating the plugin description file: calculator_plugins.xml
- Step 6 - Registering the plugin with the ROS package system
- Step 7 - Editing the CMakeLists.txt file
- Step 8 - Querying the list of plugins in a package
- Step 9 - Running the plugin loader
- Working with the pluginlib_calculator package
- Creating plugins for the calculator application using pluginlib
- Understanding ROS nodelets
- Creating a nodelet
- Step 1 - Creating a package for a nodelet
- Step 2 - Creating the hello_world.cpp nodelet
- Step 3 - Explanation of hello_world.cpp
- Step 4 - Creating the plugin description file
- Step 5 - Adding the export tag in package.xml
- Step 6 - Editing CMakeLists.txt
- Step 7 - Building and running nodelets
- Step 8 - Creating launch files for nodelets
- Creating a nodelet
- Understanding the Gazebo plugins
- Questions
- Summary
- Understanding pluginlib
- Writing ROS Controllers and Visualization Plugins
- Understanding ros_control packages
- Writing a basic joint controller in ROS
- Step 1 - Creating the controller package
- Step 2 – Creating the controller header file
- Step 3 – Creating the controller source file
- Step 4 – Explaining the controller source file
- Step 5 – Creating the plugin description file
- Step 6 – Updating package.xml
- Step 7 – Updating CMakeLists.txt
- Step 8 – Building the controller
- Step 9 – Writing the controller configuration file
- Step 10 – Writing the launch file for the controller
- Step 11 – Running the controller along with the seven dof arm in Gazebo
- Understanding the ROS visualization tool (RViz) and its plugins
- Writing an RViz plugin for teleoperation
- Methodology of building the RViz plugin
- Step 1 – Creating the RViz plugin package
- Step 2 – Creating the RViz plugin header file
- Step 3 – Creating the RViz plugin definition
- Step 4 – Creating the plugin description file
- Step 5 – Adding the export tags in package.xml
- Step 6 – Editing CMakeLists.txt
- Step 7 – Building and loading plugins
- Methodology of building the RViz plugin
- Questions
- Summary
- Interfacing I/O Boards, Sensors, and Actuators to ROS
- Understanding the Arduino-ROS interface
- What is the Arduino-ROS interface?
- Understanding the rosserial package in ROS
- Understanding ROS node APIs in Arduino
- ROS - Arduino Publisher and Subscriber example
- Arduino-ROS, example - blink LED and push button
- Arduino-ROS, example - Accelerometer ADXL 335
- Arduino-ROS, example - ultrasonic distance sensor
- Arduino-ROS example - Odometry Publisher
- Interfacing non-Arduino boards to ROS
- Interfacing DYNAMIXEL actuators to ROS
- Questions
- Summary
- 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
- Converting images between ROS and OpenCV using cv_bridge
- Image processing using ROS and OpenCV
- Interfacing Kinect and Asus Xtion Pro in ROS
- Interfacing Intel Real Sense camera with ROS
- Interfacing Hokuyo Laser in ROS
- Working with point cloud data
- Working with AR Marker detection for object pose estimation
- Questions
- Summary
- Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
- Introducing to Chefbot – a DIY mobile robot and its hardware configuration
- Flashing Chefbot firmware using Energia IDE
- Discussing Chefbot interface packages on ROS
- Computing odometry from encoder ticks
- Computing motor velocities from ROS twist message
- Configuring the Navigation stack for Chefbot
- Configuring the gmapping node
- Configuring the Navigation stack packages
- Understanding AMCL
- Understanding RViz for working with the Navigation stack
- Obstacle avoidance using the Navigation stack
- Working with Chefbot simulation
- Sending a goal to the Navigation stack from a ROS node
- Questions
- Summary
- Introducing to Chefbot – a DIY mobile robot and its hardware configuration
- Exploring the Advanced Capabilities of ROS-MoveIt!
- Motion planning using the move_group C++ interface
- Collision checking with a robot arm using MoveIt!
- Working with perception using MoveIt! and Gazebo
- Working with a robot pick-and-place task using MoveIt!
- Understanding DYNAMIXEL ROS Servo controllers for robot hardware interfacing
- Interfacing 7 DOF DYNAMIXEL-based robotic arm to ROS MoveIt!
- Questions
- Summary
- Using ROS in MATLAB and Simulink
- ROS for Industrial Robots
- Understanding ROS-Industrial packages
- Installing ROS-Industrial packages
- Block diagram of ROS-Industrial packages
- Creating a URDF for an industrial robot
- Creating the MoveIt! configuration for an industrial robot
- Installing ROS-Industrial packages of  Universal robotic arms
- Understanding the Moveit! configuration of a Universal Robot arm
- Getting started with real Universal Robots hardware and ROS-I
- 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 the MoveIt! IKFast plugin
- Creating the MoveIt! IKFast plugin for the ABB IRB 6640 robot
- Creating the COLLADA file of a robot to work with OpenRave
- Generating the IKFast CPP file for the IRB 6640 robot
- Questions
- Summary
- Troubleshooting and Best Practices in ROS
- Setting up RoboWare Studio in Ubuntu
- Installing/uninstalling RoboWare Studio
- Getting started with RoboWare Studio
- Create ROS packages in RoboWare Studio
- Building ROS workspace in RoboWare Studio
- Executing ROS nodes in RoboWare Studio
- Starting ROS tools from the RoboWare interface
- Handling active ROS topics, nodes, and services
- Creating ROS nodes and classes with RoboWare tools
- ROS package manager in RoboWare Studio
- Best practices in ROS
- Best practices in the ROS package
- Important troubleshooting tips in ROS
- Questions
- Summary
- Setting up RoboWare Studio in Ubuntu
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