ROS Robotics Projects
Second Edition
Second Edition
Build and control robots powered by the Robot Operating System, machine learning, and virtual reality
BIRMINGHAM - MUMBAI
- Title Page
- Copyright and Credits
- Dedication
- About Packt
- Contributors
- Preface
- Getting Started with ROS
- Technical requirements
- Getting started with ROS 
- Fundamentals of ROS
- ROS client libraries 
- ROS tools 
- ROS simulators
- Installing ROS Melodic on Ubuntu 18.04 LTS 
- Setting up ROS on VirtualBox 
- Introduction to Docker 
- Setting up the ROS workspace 
- Opportunities for ROS in industries and research 
- Summary 
- Introduction to ROS-2 and Its Capabilities
- Technical requirements
- Getting started with ROS-2
- Fundamentals of ROS-2
- ROS-2 client libraries (RCL)
- ROS-2 tools
- Installing ROS-2
- Setting up the ROS-2 workspace
- Writing ROS-2 nodes
- Bridging ROS-1 and ROS-2
- Summary
- Building an Industrial Mobile Manipulator
- Technical requirements
- Understanding available mobile manipulators
- Applications of mobile manipulators
- Getting started building mobile manipulators
- Building the robot base
- Getting started building the robot arm
- Putting things together
- Summary
- Handling Complex Robot Tasks Using State Machines
- Technical requirements
- Introduction to ROS actions
- Waiter robot analogy
- Introduction to state machines
- Introduction to SMACH
- Getting started with SMACH examples
- Summary
- Building an Industrial Application
- Technical requirements
- Application use case – robot home delivery
- Making our robot base intelligent
- Making our robot arm intelligent
- Simulating the application
- Improvements to the robot
- Summary
- Multi-Robot Collaboration
- ROS on Embedded Platforms and Their Control
- Technical requirements
- Understanding embedded boards
- Introduction to microcontroller boards
- Introduction to single-board computers
- Debian versus Ubuntu
- Setting up ROS on Tinkerboard S
- Setting up ROS on BeagleBone Black
- Setting up ROS on Raspberry Pi 3/4
- Setting up ROS on Jetson Nano
- Controlling GPIOS from ROS
- Benchmarking embedded boards
- Getting started with Alexa and connecting with ROS
- Summary
- Reinforcement Learning and Robotics
- Deep Learning Using ROS and TensorFlow
- Creating a Self-Driving Car Using ROS
- Technical requirements
- Getting started with self-driving cars
- Components of a typical self-driving car
- Simulating and interfacing self-driving car sensors in ROS
- Simulating the Velodyne LIDAR
- Interfacing Velodyne sensors with ROS
- Simulating a laser scanner
- Explaining the simulation code
- Interfacing laser scanners with ROS
- Simulating stereo and mono cameras in Gazebo
- Interfacing cameras with ROS
- Simulating GPS in Gazebo
- Interfacing GPS with ROS
- Simulating IMU on Gazebo
- Interfacing IMUs with ROS
- Simulating an ultrasonic sensor in Gazebo
- Low-cost LIDAR sensors
- Simulating a self-driving car with sensors in Gazebo
- Interfacing a DBW car with ROS
- Introducing the Udacity open source self-driving car project
- Summary
- Teleoperating Robots Using a VR Headset and Leap Motion
- Technical requirements
- Getting started with a VR headset and Leap Motion
- Designing and working on the project
- Installing the Leap Motion SDK on Ubuntu 14.04.5
- Visualizing Leap Motion data in RViz
- Creating a teleoperation node using the Leap Motion controller
- Building a ROS-VR Android application
- Working with the ROS-VR application and interfacing with Gazebo
- TurtleBot simulation in VR
- Troubleshooting the ROS-VR application
- Integrating the ROS-VR application and Leap Motion teleoperation
- Summary
- Face Detection and Tracking Using ROS, OpenCV, and Dynamixel Servos
- Technical requirements
- Overview of the project
- Hardware and software prerequisites
- Configuring a Dynamixel servo using RoboPlus
- Interfacing Dynamixel with ROS
- Creating face tracker ROS packages
- Working with the face-tracking ROS package
- Understanding the face tracker code
- Understanding CMakeLists.txt
- The track.yaml file
- Launch files
- Running the face tracker node
- The face_tracker_control package
- The pan controller configuration file
- The servo parameters configuration file
- The face tracker controller node
- Creating CMakeLists.txt
- Testing the face tracker control package
- Bringing all of the nodes together
- Fixing the bracket and setting up the circuit
- The final run
- Summary
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