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Robot Operating System Cookbook

You're reading from Robot Operating System Cookbook Over 70 recipes to help you master advanced ROS concepts

Product type Paperback

Published in Jun 2018

Publisher Packt

ISBN-13 9781783987443

Length 484 pages

Edition 1st Edition

Languages

C++

Tools

ROS

Concepts

Robotics

Author (1):

Bipin

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Table of Contents (17) Chapters

Title Page

Copyright and Credits

www.PacktPub.com

Contributors

Preface

1. Getting Started with ROS FREE CHAPTER

2. ROS Architecture and Concepts I

3. ROS Architecture and Concepts – II

4. ROS Visualization and Debugging Tools

5. Accessing Sensors and Actuators through ROS

6. ROS Modeling and Simulation

7. Mobile Robot in ROS

8. The Robotic Arm in ROS

9. Micro Aerial Vehicles in ROS

10. ROS-Industrial (ROS-I)

1. Other Books You May Enjoy

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Index

A generic mathematical model of an MAV/drone

In this section, we will discuss the mathematical concepts needed to understand the kinematic and dynamic model of MAVs that is used in simulator design. Throughout this chapter, we refer to MAVs as multirotor quadcopters, but the concepts can be applied to other vehicles to. One important concept will be the kinematics and dynamics of an MAV, which allow us to develop control strategies on different command levels such as attitude or position and orientation. In addition, we will also discuss the state estimation of a quadcopter, which will be used for higher-level tasks such as path planning or local collision avoidance.

Getting ready

A quadcopter is a multirotor helicopter that is lifted and propelled by four rotors, as shown in the following photograph. So, what are the important components and their functions? A quadcopter consists of two pairs of identical propellers, where one pair of propellers rotates in a clockwise direction and the other...

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Authors (1)

Bipin

Bipin

Kumar Bipin has 15+ years of research and development experience with such world-famous consumer electronics companies as STMicroelectronics and Motorola. He has participated in the research fellowship program at SERC, IISc Bengaluru, earned MS in Robotics and Computer Vision from IIIT, Hyderabad. have been fosters confident in delivering system-level solutions for consumer electronics products, which includes system software, perception planning and control for autonomous vehicle. Currently, he is leading the Autonomous Vehicle Product- Autonomai at Tata Elxsi.

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