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Learning ROS for Robotics Programming.

Author: Aaron Martinez
Publisher: Packt Publishing, 2013.
Edition/Format:   eBook : Document : EnglishView all editions and formats
Summary:
The book will take an easy-to-follow and engaging tutorial approach, providing a practical and comprehensive way to learn ROS. If you are a robotic enthusiast who wants to learn how to build and program your own robots in an easy-to-develop, maintainable and shareable way, ""Learning ROS for Robotics Programming"" is for you. In order to make the most of the book, you should have some C++ programming background,  Read more...
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Genre/Form: Electronic books
Additional Physical Format: Print version:
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Aaron Martinez
ISBN: 1299926371 9781299926370 1782161449 9781782161448 9781782161455 1782161457
OCLC Number: 859389001
Description: 1 online resource
Contents: Cover; Copyright; Credits; About the Authors; About the Reviewers; www.PacktPub.com; Table of Contents; Preface; Chapters 1: Getting Started with ROS; Installing ROS Electric --
using repositories; Adding repositories to your sources.list file; Setting up your keys; Installation; The environment setup; Installing ROS Fuerte --
using repositories; Configuring your Ubuntu repositories; Setting up your source.list file; Setting up your keys; Installation; The environment setup; Standalone tools; How to install VirtualBox and Ubuntu; Downloading VirtualBox; Creating the virtual machine; Summary. Chapters 2: The ROS Architecture with ExamplesUnderstanding the ROS Filesystem level; Packages; Stacks; Messages; Services; Understanding the ROS Computation Graph level; Nodes; Topics; Services; Messages; Bags; Master; Parameter Server; Understanding the ROS Community level; Some tutorials to practice with ROS; Navigating through the ROS filesystem; Creating our own workspace; Creating an ROS package; Building an ROS package; Playing with ROS nodes; Learning how to interact with topics; Learning how to use services; Using the Parameter Server; Creating nodes; Building the node. Creating msg and srv filesUsing the new srv and msg files; Summary; Chapters 3: Debugging and Visualization; Debugging ROS nodes; Using the GDB debugger with ROS nodes; Attaching a node to GDB while launching ROS; Enabling core dumps for ROS nodes; Debugging messages; Outputting a debug message; Setting the debug message level; Configuring the debugging level of a particular node; Giving names to messages; Conditional and filtered messages; More messages --
once, throttle, and combinations; Using rosconsole and rxconsole to modify the debugging level on the fly; Inspecting what is going on. Listing nodes, topics, and servicesInspecting the node's graph online with rxgraph; When something weird happens --
roswtf!; Plotting scalar data; Creating a time series plot with rxplot; Other plotting utilities --
rxtools; Visualization of images; Visualizing a single image; Firewire cameras; Working with stereo vision; 3D visualization; Visualizing data on a 3D world using rviz; The relationship between topics and frames; Visualizing frame transformations; Saving and playing back data; What is a bag file?; Recording data in a bag file with rosbag; Playing back a bag file. Inspecting all the topics and messages in a bag file using rxbagrqt plugins versus rx applications; Summary; Chapters 4: Using Sensors and Actuators with ROS; Using a joystick or gamepad; How does joy_node send joystick movements?; Using joystick data to move a turtle in turtlesim; Using a laser rangefinder --
Hokuyo URG-04lx; Understanding how the laser sends data in ROS; Accessing the laser data and modifying it; Creating a launch file; Using the Kinect sensor to view in 3D; How does Kinect send data from the sensors and how to see it?; Creating an example to use Kinect. Using servomotors --
Dynamixel.

Abstract:

The book will take an easy-to-follow and engaging tutorial approach, providing a practical and comprehensive way to learn ROS. If you are a robotic enthusiast who wants to learn how to build and program your own robots in an easy-to-develop, maintainable and shareable way, ""Learning ROS for Robotics Programming"" is for you. In order to make the most of the book, you should have some C++ programming background, knowledge of GNU/Linux systems, and computer science in general. No previous background on ROS is required, since this book provides all the skills required. It is also advisable to hav.

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