ROSRoboticsProjects-LentioJoseph

2017年目前出版的唯一 一本 ROS 的书，作者Lentin JosephTable of contentsROS Robotics proicctsCreditsAbout the authorAcknowedgementAbout the reviewerwww.packtpub.comWhy subscribe?Customer FeedbackWhat this book coversWhat you need for this bookWho this book is foConventionsReader feedbackCustomer supportDownloading the exaple codeDownloading the color images of this bookErrat1. Getting Started with ROS Robotics Application DevelopmentGetting started with ROsros distributionsSupported operating systensRobots and sensors supported by ROsWhy ROsFundamentals ofrosThe filesystem levelThe computation graph levclThe ros commmity levelCommunication in rosRoS chent hbrariesROS toolsRViz (ROS Visualizer)Simulators of rosInstalling ros kinetic on Ubuntu 16.04 LTSGetting started with the insta lationConfiguring Ubuntu repositoriesSetting up source listSctting up keysInstalling rosInitializing rosdetSetting the ros environmentGetting rosimstallSetting ros onⅤ irtualBoxSetting the ros workspaceOpportunities for ROS in industries and rescarchLesiONSSummary2. Face Detection and Trackng Using ROS. OpenCV and Dynamixel ServosOverview of the projectHardware and software prerequisitesInstalling dependent ros packagesInstalling the usb cam rOs packageCreating a ROS workspace for dependenciesInterfacing Dynamixel with ROsInstalling the ros dynamixel motor packagesCreating face tracker ROS packagesThe interface between ROS and OpenCvWorking with the face-tracking ROS packageUnderstanding the face tracker codeUndcrstanding CMakcLists txtThe track. yaml fileThe launch filesRunning the face tracker nodeThe face tracker control packageThe start dynamixel launch fileThe pan controller launch fileThe nan controller configuration fileThe servo parameters configuration fileThe face tracker controler nodeCreating CmakeLists. txtTesting the face tracker control packageBringing all the nodes togetherFixing the bracket and setting up the circuitThe final runQuestionsSummaRy3. Building a Siri- Like Chatbot in ROsSocial robotsBuilding social robotsPreGettng started with AMLaIMl tagsThe PyaIml interpreterstalling PyAIML on Ubuntu 16.04 LtSPlaying with PYAIMLading multiple AImL filesCreating an AIML bot in ROsThe aIml Ros packagenstallng the ros sound play packageInstalling the dependencies of sound playInstalling the sound play ros packageCreating the ros aiml packagehe armi server nodeThe aiml client nodeThe AIML speech recognition nodestart chat. launchstart tts chat. launchstart speech chat. launchlestionsSummar4. Controlling embedded Boards Using rosGettmg started with popular embedded boardsAn introduction to arduino boardsHow to choose an arduino board for your robotGetting started with STM32 and TI LaunchpadsThc Tiva C LaunchpadIntroducing the Raspberry PiI low to choose a Raspberry pi board for your robotThe odroid boardInterfacing Arduino with ROSMonitoring light using Arduino and rosRuning ros serial server on pcInterfacing stm32 boards to ros using mbedInterfacing Tiva C i aunchpad boards with ROS using energiaRuning ros on raspberry Pi and odroid boardsConnecting Raspberry Pi and odroid to pcControlling GPIO pins from ROSCreating a ros package for the blink demoRuning the led blink demo on Raspberry pi and odroiduestionsSummary5. Teleoperate a Robot Using Hand GesturesTeleoperating ROs Turtle using a keyboardTeleopcrating using hand gesturesSetting up the proiectInterfacing the mpu-9250 with the ardumo and rosThe Arduino-IMU interfacing codeⅤ isualizing IMU TF in RviConverting IMU data into twist messagesIntegration and final runTelcoperating using an Android phoneSummary6. Obiect Detection and RecognitionGetting started with object detection and recognitionThe find obiect 2d package in ROSInstalling find obiect 2dInstalling from source codeRuming find object 2d nodes using webcamsRumming find obiect 2d nodes using depth sensorstting started with 3d obiect recognitionIntroduction to 3D object recognition packages in ROSInstalling ork packages in ROsDetecting and recognizing obiects from 3D meshesrainng using3D odels of an obiectTraining from captured 3D modelsRecognizing objectsQuestionsSummary7. Deep Learning Using ROS and Tensor FlowIntroduction to dccp learming and its applicationsDeep leaming for roboticsDeep learning hbrariesGetting started with TensorFbwInstalling TensorFlow on Ubuntu 16.04 LTSTensorFlow conceptsVariablesFetcheWriting our first code in tensorflowImage recognition using ros and TensorFlowThe ros image recognition nodeRuning the ros image recognition nodeIntroducing to scikit-JearnInstalling scikit -leam on Ubuntu 16.04 LTSIntroducing to S VM and its application in roboticsImplementing an SVM-ROS applicationQucstionsSummary8. ROS on matlab and androidGetting started with the ros-matlab interfaceSetting Robotics Toolbox m MATLABBasic ros functions in matlaBInitializing a ros networkListing ROS nodes. topics, and messagesCommunicating from matlab to a ros nctworkControling a ros robot from matlaBDesigning the MaTlab gui applicationExplaining callbacksRunning the applicationGetting started with Android and its ros interfaceInstalling rosiavaInstalling from the Ubuntu package managerInstalg from source codeInstalling android-sdk from the Ubuntu package anagerInstalling android-sdk from prebuilt binariesInstalling the ros- android interfacePlaying with ROs-Android applcationsTroubleshootinAndroid-ROS publisher-subscriber applicationThe telep applicationThe ROs android camera appicationMaking the android device the ros asterCode walkthroughreating basic applications using the ros- android nterfaceTroubleshooting tipsuestIonsSummar9. Building an autonomous mobile robotRobot spccification and design overviewDesigning and selectig the motors and wheels for the robotouting motor torqueCalculation of motor rPmDesign summaryBuilding 2D and 3D models of the robot bodyThe base plateThe pole and tube designThe motor wheel and motor clamp designThe caster wheel designMiddle plate and top plate designThe top pate3D modeling of the robotSimulating the robot model in gazeboMathematical model of a differential drive robotSimulating chefbotBuilding the urde model of chefbotInserting 3D CAD parts into URDF as linksInserting Gazebo controllers into URDFRunning the simulationMarand localizatiDesigning and building actual robot hardwareMotor and motor driverTivaC LaunchpadensorIntel NUcInterfing sensors and otors wth the launchProgramming the Tiva C launchpadInterfacing robot hardware with rOsRunning chefbot ros driver nodegrapping and localization in ChcfbotOuestionsSummary10. Creating a self- Driving Car Using rosGetting started with self-driving carsHistory of autonomous vehiclesLevels ofautonomFunctional block diagram of a typical self-driving carGPS. IMU. and wheel encoderXsenS mImuCameraUltrasonic sensorsLIDAR and radarVelodyne hdl-64 LIDARSICK LMS 5XX/lxX and Hokuyo LiDaRContinental arS 300 radar(ARsDelhiradarOn-board coputerftware block diagram ofsclf- driving caSimulating the Velodyne liDarInterfacing Velodyne sensors with ROSSimulating a laser scannerExplaining the simulation codeInterfacing laser scanners with rosSimulating stereo and mono cameras in gazeboInterfacing camras with ROsSimulating gps m gazeboInterfacing GPS with ROSSimulating mu on gazeboInterfacing IMUs with RosSimulating an ultrasonic sensor n GazeboLow-cost lidar sensorsLIDARRPLIDARSimulating a self-driving car with sensors m gazeboInstalling prerequisitesVisualizing robotic car sensor dataMoving a self-driving car in GazeboRunning hector slam using a robotic carInterfacing a DBw car with ROsInstalling packagesVisualizing the self-driving car and sensor dataCommunicating with DBW from ROSIntroducing the Udacity open source self- driving car proiectMATLAB ADAS toolboxuestIonsSummary11. Teleoperating a robot Using a VR ileadset and Leap motionGetting started with a vr headset and Leap motionProject prerequisitesDesign and working of the proiectInstalling the Leap motion SDK on Ubuntu 14.04.5Visualizing l ean motion controller dataPlaying with the Leap motion visualizer toolInstalling the ros driver for the Leap motion controllerTesting the Leap motion ros driverVisualizing Leap motion data n rizCreating a teleoperation node using the Leap motion controllerBuilding a ros-VR android applicationWorking with the ROS-VR application and interfacing with gazeboWorking with Turtlebot simulation in VRTroubleshooting the ros-VR apphcationIntegrating ROS-VR application and Leap Motion teleoperationQuestionsSummar12. Controlling your robots ovcr the wcbGetting started with ROS wcb packagesrosbridge sunteroslibis, ros2dis, and ros3disThe ti2 web republisher packageSetting up ros web packages on Ros KineticInstalling rosbridge suiteSetting up rosbridge client librariesInstalling th2 wcb republisher on ROs KincticTeleoperatimg and visualizing a robot on a web browserWorking of the proiectConnecting to rosbridge serverInitializing the telepCreating a 3D viewer inside a web browserCreating a tf clentCreating a urde clientCreating text mutRurming the web telep applicationControlling robot joints from a wcb browserInstalling joint state publisher isIncluding the joint state publisher oduleCreating the joint state publisher obiectCreating an HTML division for sidesRuming the web-based joint state publisherPrerequisitesInstalling prctcqusIcsExplaining the codeRuning the robot surveillance applicationWeb-based speech-controlled robotrerequsieEnabling speech recognition in the web applicationRunning a speech-controlled robot applicationSummaryROS Robotics ProjectsROS Robotics ProjectsCopyright C 2017 Packt PublishingI rights reserved. No part of this book may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, without theprior written permission of the publisher, except in th casc of bricf quotations cmbedded in critical articles or rcvicwsEvery effort has been made n the preparation of this book to ensure the accuracy of the information presented However, the nformationcontained in this book is sol without warranty, either express or implied. Neither the author, nor Packt Publishing, and its dealers and distributorswill be held liable for any damages caused or alleged to be caused directly or indirectly by this bookPackt Publishing has endeavored to provide trademark information about all of the companies and products mentioned in this book by theappropriate use of capitals. However, Packt Publishing cannot guarantee the accuracy of this informtionFrst published March 2017Production reference: 1290317Published by Packt Publishing LtdLivery place35 Livery stnBirminghamB3 2PB. UK.ISRN978-1-78355-471-3www.packtpub.com