Before running any ROS nodes, we should start the ROS master and the ROS parameter server. We can start ROS master and the ROS parameter server using a single command called roscore, which will start three programs by default; ROS master, ROS parameter server, and rosout logging nodes.
- Title Page
- Copyright and Credits
- www.PacktPub.com
- Contributors
- Preface
- Getting Started with ROS
- ROS Architecture and Concepts I
- ROS Architecture and Concepts – II
- Introduction
- Understanding the parameter server and dynamic parameters
- Understanding the ROS actionlib
- Understanding the ROS pluginlib
- Understanding the ROS nodelets
- Understanding the Gazebo Framework and plugin
- Understanding the ROS transform frame (TF)
- Understanding the ROS Visualization tool (RViz) and its plugins
- ROS Visualization and Debugging Tools
- Accessing Sensors and Actuators through ROS
- Introduction
- Understanding the Arduino-ROS interface
- Interfacing 9DoF Razor IMU-Arduino-ROS
- Using a GPS system – Ublox
- Interfacing servomotors – Dynamixel
- Using a Laser Rangefinder – Hokuyo
- Working with the Kinect sensor to view objects in 3D
- Using a joystick or a gamepad in ROS
- ROS Modeling and Simulation
- Mobile Robot in ROS
- Introduction
- The navigation stack in ROS
- Interfacing the mobile robot to the navigation stack
- Creating a launch file for the navigation stack
- Setting up RViz for the navigation stack – visualization
- Robot localization – Adaptive Monte Carlo Localization (AMCL)
- Configuring navigation stack parameters with rqt_reconfigure
- Autonomous navigation of mobile robots – avoiding obstacles
- Sending goals
- The Robotic Arm in ROS
- Micro Aerial Vehicles in ROS
- ROS-Industrial (ROS-I)
- Introduction
- Understanding ROS-I packages
- 3D modeling and simulation of an industrial robot and MoveIt!
- Working with ROS-I packages – Universal Robots, ABB robot
- ROS-I Robot support packages
- ROS-I Robot client package
- ROS-I robot driver specification
- Developing a custom MoveIt! IKFast plugin
- ROS-I-MTConnect integration
- Future of ROS-I – hardware support, capabilities, and applications
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