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Mastering ROS for Robotics Programming

You're reading from   Mastering ROS for Robotics Programming Design, build, and simulate complex robots using the Robot Operating System

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Product type Paperback
Published in Feb 2018
Publisher Packt
ISBN-13 9781788478953
Length 580 pages
Edition 2nd Edition
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Concepts
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Authors (2):
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Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
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Lentin Joseph is the Co-Founder of RUNTIME Robotics. He brings over 14 years of experience in Robotics Software Development, specializing in ROS 1 and 2. He has authored and reviewed over 10 books on ROS, computer vision, and embedded systems. Lentin holds a master's in Robotics and Automation from Amrita University, Kerala, and a bachelor's degree in Electronics and Communication Engineering from FISAT Engineering College, Kerala. His passion for teaching Robotics and ROS has also led him to share his insights as a TEDx Speaker.
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Jonathan Cacace Jonathan Cacace
Author Profile Icon Jonathan Cacace
Jonathan Cacace
LinkedIn
Jonathan is an experienced and enthusiastic robotic software developer. He has over 10 years of experience in different robotic fields, from mobile robotics (aerial and ground) to industrial and advanced manipulation. His background is in computer science. After university studies, he got a PhD in robotics from the University of Naples Federico II, where he could participate in various research and industrial projects in different robotics fields. Currently, he is a researcher at Eurecat, the technology center of Catalonia.
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Table of Contents (22) Chapters Close

Title Page
Copyright and Credits
www.PacktPub.com
Contributors
Preface
1. Introduction to ROS FREE CHAPTER 2. Getting Started with ROS Programming 3. Working with 3D Robot Modeling in ROS 4. Simulating Robots Using ROS and Gazebo 5. Simulating Robots Using ROS and V-REP 6. Using the ROS MoveIt! and Navigation Stack 7. Working with pluginlib, Nodelets, and Gazebo Plugins 8. Writing ROS Controllers and Visualization Plugins 9. Interfacing I/O Boards, Sensors, and Actuators to ROS 10. Programming Vision Sensors Using ROS, Open CV, and PCL 11. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS 12. Exploring the Advanced Capabilities of ROS-MoveIt! 13. Using ROS in MATLAB and Simulink 14. ROS for Industrial Robots 15. Troubleshooting and Best Practices in ROS 1. Other Books You May Enjoy Index

Chapter 11. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS

In the previous chapter, we discussed robotic vision using ROS. In this chapter, we will see how to build autonomous mobile robot hardware with a differential drive configuration and how to interface it into ROS. We will see how to configure the ROS Navigation stack for this robot and perform SLAM and AMCL to move the robot autonomously. This chapter aims to give you an idea about building a custom mobile robot and interfacing it on ROS. We will cover the following topics in this chapter:

  • Introduction to Chefbot a DIY autonomous mobile robot
  • Developing base controller and odometry nodes for Chefbot in ROS
  • Configuring the Navigation stack for Chefbot and understanding AMCL
  • Working with the Chefbot simulation
  • Interacting with the Navigation stack with a ROS node

The first topic we are going to discuss in this chapter is how to build a DIY (Do It Yourself) autonomous mobile robot, develop its firmware, and interface...

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Authors (2)

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Profile icon Lentin Joseph
Lentin Joseph
LinkedIn icon
Lentin Joseph is the Co-Founder of RUNTIME Robotics. He brings over 14 years of experience in Robotics Software Development, specializing in ROS 1 and 2. He has authored and reviewed over 10 books on ROS, computer vision, and embedded systems. Lentin holds a master's in Robotics and Automation from Amrita University, Kerala, and a bachelor's degree in Electronics and Communication Engineering from FISAT Engineering College, Kerala. His passion for teaching Robotics and ROS has also led him to share his insights as a TEDx Speaker.
Read more
See other products by Lentin Joseph
Profile icon Jonathan Cacace
Jonathan Cacace
LinkedIn icon Github icon
Jonathan is an experienced and enthusiastic robotic software developer. He has over 10 years of experience in different robotic fields, from mobile robotics (aerial and ground) to industrial and advanced manipulation. His background is in computer science. After university studies, he got a PhD in robotics from the University of Naples Federico II, where he could participate in various research and industrial projects in different robotics fields. Currently, he is a researcher at Eurecat, the technology center of Catalonia.
Read more
See other products by Jonathan Cacace
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