Effective Robotics Programming with ROS

Robotics

Programming

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Effective Robotics Programming with ROS

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EffectiveRoboticsProgrammingwithROS

ThirdEdition

TableofContents
EffectiveRoboticsProgrammingwithROSThirdEdition
Credits
AbouttheAuthors
AbouttheReviewer
www.PacktPub.com
eBooks,discountoffers,andmore
Whysubscribe?
CustomerFeedback
Preface
Whatthisbookcovers
Whatyouneedforthisbook
Whothisbookisfor
Conventions
Readerfeedback
Customersupport
Downloadingtheexamplecode
Downloadingthecolorimagesofthisbook
Errata
Piracy
Questions
1.GettingStartedwithROS
PCinstallation
InstallingROSKineticusingrepositories
ConfiguringyourUbunturepositories
Settingupyoursource.listfile
Settingupyourkeys
InstallingROS
Initializingrosdep
Settinguptheenvironment
Gettingrosinstall
HowtoinstallVirtualBoxandUbuntu
DownloadingVirtualBox
Creatingthevirtualmachine
UsingROSfromaDockerimage
InstallingDocker
GettingandusingROSDockerimagesandcontainers
InstallingROSinBeagleBoneBlack
Prerequisites
Settingupthelocalmachineandsource.listfile
Settingupyourkeys
InstallingtheROSpackages

InitializingrosdepforROS
SettinguptheenvironmentintheBeagleBoneBlack
GettingrosinstallforBeagleBoneBlack
BasicROSexampleontheBeagleBoneBlack
Summary
2.ROSArchitectureandConcepts
UnderstandingtheROSFilesystemlevel
Theworkspace
Packages
Metapackages
Messages
Services
UnderstandingtheROSComputationGraphlevel
Nodesandnodelets
Topics
Services
Messages
Bags
TheROSmaster
ParameterServer
UnderstandingtheROSCommunitylevel
TutorialstopractisewithROS
NavigatingthroughtheROSfilesystem
Creatingourownworkspace
CreatinganROSpackageandmetapackage
BuildinganROSpackage
PlayingwithROSnodes
Learninghowtointeractwithtopics
Learninghowtouseservices
UsingParameterServer
Creatingnodes
Buildingthenode
Creatingmsgandsrvfiles
Usingthenewsrvandmsgfiles
Thelaunchfile
Dynamicparameters
Summary
3.VisualizationandDebuggingTools
DebuggingROSnodes
UsingtheGDBdebuggerwithROSnodes
AttachinganodetoGDBwhilelaunchingROS
ProfilinganodewithvalgrindwhilelaunchingROS
EnablingcoredumpsforROSnodes
Loggingmessages

Outputtingloggingmessages
Settingthedebugmessagelevel
Configuringthedebugginglevelofaparticularnode
Givingnamestomessages
Conditionalandfilteredmessages
Showingmessagesonce,throttling,andothercombinations
Usingrqt_consoleandrqt_logger_leveltomodifythelogginglevelonthefly
Inspectingthesystem
Inspectingthenode'sgraphonlinewithrqt_graph
Settingdynamicparameters
Dealingwiththeunexpected
Visualizingnodesdiagnostics
Plottingscalardata
Creatingatimeseriesplotwithrqt_plot
Imagevisualization
Visualizingasingleimage
3Dvisualization
Visualizingdataina3Dworldusingrqt_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therqt_guiandrqtplugins
Summary
4.3DModelingandSimulation
A3DmodelofourrobotinROS
CreatingourfirstURDFfile
Explainingthefileformat
Watchingthe3Dmodelonrviz
Loadingmeshestoourmodels
Makingourrobotmodelmovable
Physicalandcollisionproperties
Xacro–abetterwaytowriteourrobotmodels
Usingconstants
Usingmath
Usingmacros
Movingtherobotwithcode
3DmodelingwithSketchUp
SimulationinROS
UsingourURDF3DmodelinGazebo
AddingsensorstoGazebo