- 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
Authors
Carol Fairchild
Dr. Thomas L. Harman
Reviewer
Shweta Gupte
Commissioning Editor
Dipika Gaonkar
Acquisition Editor
Vivek Anantharaman
Prachi Bisht
Content Development Editor
Mehvash Fatima
Technical Editor
Devesh Chugh
Copy Editors
Roshni Banerjee
Gladson Monteiro
Rashmi Sawant
Project Coordinator
Kinjal Bari
Proofreader
Safis Editing
Indexer
Hemangini Bari
Graphics
Kirk D'Penha
Production Coordinator
Shantanu N. Zagade
Cover Work
Shantanu N. Zagade
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