ROSRoboticsProjects

About This Book, Create and program cool robotic projects using powerful ROS libraries, Work through concrete examples that will help you build your own robotic systems of varying complexity levels, This book provides relevant and fun-filled examples so you can make your own robots that can run and ROS Robotics ProjectsCopyright o 2017 Packt PublishingAll rights reserved no part of this book may be reproduced stored in a retrieval system, ortransmitted in any form or by any means, without the prior written permission of thepublisher, except in the case of brief quotations embedded in critical articles or reviewsEvery effort has been made in the preparation of this book to ensure the accuracy of theinformation presented However, the information contained in this book is sold withoutwarranty, either express or implied. Neither the author nor Packt Publishing, and itsdealers and distributors will be held liable for any damages caused or alleged to be causeddirectly or indirectly by this bookPackt Publishing has endeavored to provide trademark information about all of thecompanies and products mentioned in this book by the appropriate use of capitalsHowever, Packt Publishing cannot guarantee the accuracy of this informationFirst published March 2017Production reference: 1290317Published by Packt Publishing Ltdry place35 Livery StreetBibirminghamB3 2PB. UKISBN978-1-78355-471-3www.pAcktpub.comCreditsAuthorCopy EditorLentin JosephMadhusudan uchilReviewerProject CoordinatorRuixiang duJudie joseCommissioning editorProofreaderKartikey PandeySafis EditingAccquisition EditorIndexerNamrata patilPratik shirodkarContent Development editor GraphicsAmedh pohadKirk d penhaTechnical editorProduction coordinatorPrashant ChaudhariShantanu AgadeAbout the authorLentin Joseph is an author, entrepreneur, electronics engineer, robotics enthusiast, machinevisionexpertembeddedprogrammerandthefounderandCeoofQboticsLabs(http://wwW.qboticslabs. com) from IndiaHe completed his bachelor' s degree in electronics and communication engineering at theFederal Institute of Science and Technology(FISat), Kerala. For his final year engineeringproject, he made a social robot that can interact with people. The project was a huge successand was mentioned in many forms of visual and print media. The main features of thisrobot were that it could communicate with people and reply intelligently and had someimage processing capabilities such as face, motion, and color detection. The entire projectwas implemented using the Python programming language. His interest in robotics, imageprocessing and Python started with that projectAfter his graduation, he worked for three years at a start-up company focusing on roboticsand image processing. In the meantime, he learned to work with famous robotics softwareplatforms such as Robot Operating System(ROS), V-REP, and Actin(a robotic simulationtool) and image processing libraries such as Open CV, OpennI, and PCL. He also knowsabout 3d robot design and embedded programming on Arduino and Tiva LaunchpadAfter three years of work experience, he started a new company called Qbotics Labs, whichmainly focuses on research into building some great products in domains such as roboticsandmachinevisionHemaintainsapersonalwebsite(http://www.lentinjoseph.com)anatechnologyblogcalledtechnolabsz(http://www.technolabsz.com).Hepublisheshisworks on his tech blog. He was also a speaker at Py Con2013, India, on the topic learningRobotics using pythonentinistheauthorofthebookslearningroboticsusingPython(http://learn-robotics.comandmasteringrosforRoboticsProgramming(http://mastering-ros.com),bothbyPackt Publishing. The first book was about building an autonomous mobile robot usingROS and Open Cv. This book was launched at ICra 2015 and was featured on the rosblog, robohub, opencv, the python website, and various other such forums. The secondbook is on mastering robot Operating System, which was also launched at ICrA 2016, andis one of the bestselling books on rosentin and his team were also winners of the hratc 2016 challenge conducted as a part ofIcrA2016.HewasalsoafinalistintheIcRa2015challengeHratc(http://wWw.Icra2016.org/conference/challenges/)AcknowledgementsI would like to express my gratitude to the readers of my previous two books on ROS(ROS). Actually, they encouraged me to write one more book on ROs itselfI would like to thank the Packt Publishing team for giving support for publishing my booksIt may have been a distant dream without you allI would especially like to thank amedh pohad and Namrata Patil of Packt Publishing, whoguided me during the writing process. Thanks for all your suggestionsa special thanks to ruixiang du and all other technical reviewers for improving the contentand giving good suggestions. Without your suggestions, this book may not have become aood productThe most important thing in my life is my family. Without their support, this would nothave been possible i would like to dedicate this book to my parents who gave me theinspiration to write this book. This is my third book about rOS. Thanks for the constantsupportI would also like to mention my previous company asimov robotics who providedcomponents for a few projects in this book. Thank you very muchI thank all the readers who made by previous books successful. I hope you guys also likethis book and make it successfulabout the reviewerRuixiang Du is a PhD candidate in mechanical engineering at Worcester PolytechnicInstitute(WPI). He currently works in the Systems and robot Control laboratory with aresearch focus on the motion planning and control of autonomous mobile robots Hereceived a bachelor s degree in automation from north China electric power university in2011 and a master's degree in robotics engineering from WPI in 2013Ruixiang has general interests in robotics and in real-time and embedded systems. He hasworked on various robotic projects with robot platforms ranging from medical robots andunmanned aerial/ground vehicles to humanoid robots. He was a member of Team WPI-CMU for the daRPa Robotics Challengewww.paCktpub.comForsupportfilesanddownloadsrelatedtoyourbookpleasevisitwww.packtpub.ComDid you know that packt offers e book versions of every book published, with pdf andepubfilesavailableyoUcanupgradetotheebookversionatwww.packtpub.comandasaprint book customer, you are entitled to a discount on the ebook copy. Get in touch with usat service@packtpub com for more detailsAtwww.packtpub.comyoucanalsoreadacollectionoffreetechnicalarticlessignupforarange of free newsletters and receive exclusive discounts and offers on packt books andeBooKsMapthttps://www.packtpub.com/maptGet the most in-demand software skills with Mapt Mapt gives you full access to all Packtbooks and video courses, as well as industry-leading tools to help you plan your personaldevelopment and advance your careerWhy subscribe?Fully searchable across every book published by PacktCopy and paste, print, and bookmark contentOn demand and accessible via a web browserCustomer FeedbackThanks for purchasing this Packt book. At Packt, quality is at the heart of our editorialprocess. To help us improve, please leave us an honest review on this book's amazon pageathttps://www.amazoncom/dp/1783554711If you'd like to join our team of regular reviewers, you can e-mail us atustomerreviewsapacktpub com We award our regular reviewers with free eBooks andvideos in exchange for their valuable feedback. Help us be relentless in improving ourproductsTable of contentsPrefaceChapter 1: Getting Started with Ros Robotics Application Development 8Getting started with rosRoS distributions10Supported operating systemsRobots and sensors supported by ros13Why ros15Fundamentals of ros16The filesystem levelThe computation graph level18The ros community leve20Communication in ros21ROS client libraries22ROS toolsRViz(Ros visualizer)23rgt plot24rqt graph25Simulators of ros25Installing Ros kinetic on Ubuntu 16.04 LTS26Getting started with the installationConfiguring Ubuntu repositories28Setting up source. list29Setting up keys30Installing ROs30Initializing rosdep30Setting the ros environmentGetting rosinstall31Setting ROs on VirtualBox32Setting the Ros workspace34Opportunities for Ros in industries and research36Questions38Summary39Chapter 2: Face Detection and Tracking Using ROS, OpenCV andDynamixel Servos40Overview of the project41