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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

Visualizing non-scalar data – 2D/3D images

There are several robotic applications that deal with 2D and 3D data, usually in the form of images or point cloud. ROS provides interfaces that are built upon the OpenCV library to solve computer vision problems for complex robotics applications.

Getting ready

There are several extremely useful tools available in ROS to visualize these types of data, such as image_view and rqt_image_view for 2D data. Similarly, in ROS, we have rviz and rqt_rviz, which integrates an OpenGL interface with a 3D world that represents sensor data in a world representation.

How it works…

In this section, we will discuss program8 (refer to chapter4_tutorials/src/program8.cpp on GitHub), which implements a basic camera capture program using OpenCV and ROS binding to convert cv::Mat images into ROS image messages. This node publishes the image messages from camera frames in the /camera topic and enables us to display images coming from a camera on-the-fly. We will discuss more...

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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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