English | 2021 | ISBN: ‎ 1801071020 | 594 pages | True (PDF EPUB) | 50.39 MB

The Robot Operating System (ROS) is a software framework used for programming complex robots.

Design, build, and simulate complex robots using the Robot Operating System

Key Features

Become proficient in ROS programming using C++ with this comprehensive guide

Build complex robot applications using the ROS Noetic Ninjemys release to interface robot manipulators with mobile robots

Learn to interact with aerial robots using ROS

Book Description

ROS enables you to develop software for building complex robots without writing code from scratch, saving valuable development . Mastering ROS for Robotics Programming provides complete coverage of the advanced concepts using easy-to-understand, practical examples and step-by-step explanations of essential concepts that you can apply to your ROS robotics projects.

The book bs by helping you get to grips with the basic concepts necessary for programming robots with ROS. You'll then discover how to develop a robot simulation, as well as an actual robot, and understand how to apply high-level capabilities such as navigation and manipulation from scratch. As you advance, you'll learn how to create ROS controllers and plugins and explore ROS's industrial applications and how it interacts with aerial robots. Finally, you'll discover best practices and methods for working with ROS efficiently.

By the end of this ROS book, you'll have learned how to create various applications in ROS and build your first ROS robot.

What you will learn

Create a robot model with a 7-DOF robotic arm and a differential wheeled mobile robot

Work with Gazebo, CoppeliaSim, and Webots robotic simulators

Implement autonomous navigation in differential drive robots using SLAM and AMCL packages

Interact with and simulate aerial robots using ROS

Explore ROS pluginlib, ROS nodelets, and Gazebo plugins

Interface I/O boards such as Arduino, robot sensors, and high-end actuators

Simulate and perform motion planning for an ABB robot and a universal arm using ROS-Industrial

Work with the motion planning features of a 7-DOF arm using MoveIt

Who this book is for

If you are a robotics graduate, robotics researcher, or robotics software professional looking to work with ROS, this book is for you. Programmers who want to explore the advanced features of ROS will also find this book useful. Basic knowledge of ROS, GNU/Linux, and C++ programming concepts is necessary to get started with this book.

Table of Contents

Introduction to ROS

Getting started with ROS Programming

Working with ROS for 3D modelling

Simulating Robots Using ROS and Gazebo

Simulating Robots using ROS and Coppeliasim and Webot

Using the ROS MoveIt! and Navigation Stack On

Exploring the Advanced Capabilities of ROS-MoveIt!

ROS for Aerial Robots

Interfacing I/O boards Sensors and Actuators to ROS

Programming Vision Sensors Using ROS, OpenCV, and PCL

Building and Interfacing Differential Drive Mobile robot Hardware in ROS

Working with pluginlib Nodelet, and Gazebo Plugins

Writing ROS Controllers and Visualization Plugins

Using ROS in Matlab and Simulink

ROS for Industrial Robots

Troubleshooting and Best Practices



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