EffectiveRoboticsProgrammingwithROS

Effective Robotics Programming with ROSTable of contentsEffective Robotics Programming with ROS Third Editioneditsabout the authorsabout the reviewerwww.Packtpub.comebooks discount offers and moWhy subscribe?Customer feedbackPrefaceWhat this book coversWhat you need for this bookWho this book is forConventionsReader feedbackCustomer supportDownloading the example codeDownloading the color images of this bookErrataPiracyQuestions1. Getting Started with rosPC installationInstalling ROs Kinetic using repositoriesConfiguring your ubuntu repositoriesSetting up your source list fileSetting up your keysInstalling rosInitializing rosdepSetting up the environmentGetting rosinstallHow to installⅤ irtualBoⅹ and ubuntuDownloading virtualBoxCreating the virtual machineUsing ros from a Docker imageInstalling dockerGetting and using Ros Docker images and containersstalling ros in Beaglebone blackPrerequisitesSetting up the local machine and sourcelist fileSetting up your keysInstalling the ros packagesInitializing rosdep for RosSetting up the environment in the BeagleBone blackGetting rosinstall for BeagleBone blackBasic ros example on the BeagleBone blackSummar2.ROS Architecture and ConceptsUnderstanding the ros Filesystem leve.The workspacePackagesMetapackagesMessagesServicesUnderstanding the ros computation graph levelNodes and nodelessTopicsServicesMessagesBagsThe ros masterParameter serverUnderstanding the ros Community levelTutorials to practise with RosNavigating through the ros filesystemCreating our own workspaceCreating an Ros package and metapackageBuilding an ROs packagePlaying with ros nodesLearning how to interact with topicsearning how to use servicesUsing parameter serverCreating nodesBuilding the nodeCreating msg and srv filesUsing the new srv and msg filesThe launch fileDynamic parametersSummary3. Visualization and Debugging ToolsDebugging ros nodesUsing the gDb debugger with ROS nodesAttaching a node to gDb while launching rosProfiling a node with valgrind while launching ROSEnabling core dumps for ROs nodesLogging messagesOutputting logging messagesSetting the debug message levelConfiguring the debugging level of a particular nodeGiving names to messagesConditional and filtered messagesShowing messages once, throttling and other combinationsUsing rgt console and rgt logger level to modify the logging level on the flyInspecting the systemInspecting the node's graph online with rqt graphSetting dynamic parametersDealing with the unexpectedVisualizing nodes diagnosticsPlotting scalar dataCreating a time series plot with rgt plotImage visualizationVisualizing a single image3D visualizationVisualizing data in a 3D world using rgt vizhe relationship between topics and framesVisualizing frame transformationsSaving and playing back dataWhat is a bag file?Recording data in a bag file with rosbagPlaying back a bag fileInspecting all the topics and messages in a bag fileUsing the rgt gui and rqt pluginsSummary4, 3D Modeling and simulationa 3d model of our robot in rosCreating our first URDF fileExplaining the file formatWatching the 3D model on vizLoading meshes to our modelsMaking our robot model movablePhysical and collision propertiesXacro-a better way to write our robot modelsUsing constantsUsing mathUsing macrosMoving the robot with code3D modeling with SketchUpSimulation in rosUSing our URDF 3D model in GazeboAdding sensors to gazeboLoading and using a map in gazeboMoving the robot in gazeboSummary5. The Navigation Stack-Robot SetupsThe navigation stack in ROsCreating transformsCreating a broadcasterCreating a listenerWatching the transformation treePublishing sensor informationCreating the laser nodePublishing odometry informationHow Gazebo creates the odometryUsing Gazebo to create the odometryCreating our own odometryCreating a base controllerCreating our base controllerCreating a map with rOsSaving the map using map server.oading the map using map serverSummarThe Navigation Stack-Beyond SetupsCreating aa packageCreating a robot configurationConfiguring the costmaps-global costmap and local costmapConfiguring the common parametersConfiguring the global costmapConfiguring the local costalBase local planner configurationCreating a launch file for the navigation stackSetting up viz for the navigation stackThe 2D-pose estimateThe 2D nav goalThe static mapThe particle cloudThe robot's footprintThe local costmapThe global costmapThe global planhe local planThe planner planThe current goalAdaptive Monte Carlo LocalizationModifying parameters with rgt reconfigureAvoiding obstaclesSending goalsSummary7. Manipulation with MoveItThe movelt! architectureMotion planningThe planning sceneWorld geometry monitorKinematicscollision checKingntegrating an arm in MoveltWhat's in the box?Generating a Movelt! package with the Setup AssistantIntegration into vizIntegration into Gazebo or a real robotic armSimple motion planningPlanning a single goalPlanning a random targetPlanning a predefined group stateDisplaying the target motionMotion planning with collisionsAdding objects to the planning sceneRemoving objects from the planning sceneMotion planning with point cloudsThe pick and place taskThe planning sceneThe target object to graspThe support surfacePerceptionGraspingThe pickup actionThe place actionThe demo modeSimulation in gazeboSummar8. Using Sensors and Actuators with rOsUsing a joystick or a gamepadHow does joy node send joystick movements?Using joystick data to move our robot modelUsing Arduino to add sensors and actuatorsCreating an example program to use ArduinoRobot platform controlled by rOs and arduinoConnecting your robot motors to ROS using ArduinoConnecting encoders to your robotControlling the wheel velocityUsing a low-cost imu-9 degrees of freedomInstalling Razor IMu ros librarHow does razor send data in ros?Creating an ros node to use data from the gDo F sensor in our robotUsing robot localization to fuse sensor data in your robotUSing the IMU-Xsens MTiHow does xsens send data in ros?USing a GPS systemHow GPS Sends messagesCreating an example project to use GPSUsing a laser rangefinder- Hokuyo URG-04lxUnderstanding how the laser sends data in rosAccessing the laser data and modifying itCreating a launch fileUsing the Kinect sensor to view objects in 3DHow does kinect send data from the sensors and how do we see it?Creating an example to use KinectUsing servomotors-DynamixelHow does dynamixel send and receive commands for the movements?Creating an example to use the servomotorSummar9. Computer visionROS camera drivers supportFirewire ieeel394 camerasUSB camerasMaking your own USB camera driver with OpenCvROS imagesPublishing images with ImageTransportOpencv in rosInstalling OpenCv30Using opencv in rosVisualizing the camera input images with rgt image viewCamera calibrationHow to calibrate a cameraStereo calibrationThe ros image pipelineImage pipeline for stereo camerasRoS packages useful for Computer Vision tasksVisual odometryUsing visual odometry with viso2Camera pose calibrationRunning the viso2 online demoPerforming visual odometry with viso2 with a stereo cameraPerforming visual odometry with an RGBD cameraInstalling fovisUsing fovis with the Kinect rGBD cameraComputing the homography of two imagesSummary10. Point cloudsUnderstanding the point Cloud LibraryDifferent point cloud typesAlgorithms in PCLThe PCL interface for rosMy first PCL programCreating point cloudsLoading and saving point clouds to the diskVisualizing -point cloudsFiltering and downsamplingRegistration and matchingPartitioning point cloudsSegmentationSummaryIndexEffective Robotics programming with rosThird edition