Let's learn how to set up ROS on BeagleBone Black step by step. We shall learn how to set up the Debian OS on the SBC and then set up Ubuntu. Later, we shall learn how to install ROS on both. First, let's look at a few prerequisites.
- 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
- Other Books You May Enjoy
Setting up ROS on BeagleBone Black
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