Robot Operating System Cookbook: Over 70 recipes to help you master advanced ROS concepts (1st edition.)

Over 80 recipes to help you master advanced ROS concepts

About This Book

• Delve into an open-source, meta operating system for your robot
• Get acquainted with tools and libraries for building and running code on multiple platforms
• Use Gazebo to create a complex simulation environment for your robot

Who This Book Is For

If you are a robotics enthusiast and eager to delve into the core concepts of ROS via practical recipes, then this book is for you. You should have a basic understanding of ROS, GNU/Linux, and C++ programming.

What You Will Learn

• The powerful APIs and the most useful packages available in ROS
• How to make optimal use of Gazebo, the simulator in ROS
• How to use a robot manipulator to generate inverse kinematics and motion planning solutions
• How to interface hardware and create custom GUIs to visualize and control robots
• How to model a mobile robot for autonomous navigation
• How to control your robots from the Web

In Detail

ROS (Robot Operating System) adds great value to your robotics projects as it was designed to be as distributed and modular as possible. Our book will leverage the power of ROS and will delve into the core components in the form of exciting recipes.

You will start with the use of different communication methods in ROS - synchronous and asynchronous, including messages, services, actions and so on. Next, you will learn about the geometrical representation of robots. We will also help you master advanced debugging and visualization tools along with the open-source implementation of standard robot applications, such as robot control, motion planning, and localization mapping. Then, this book will teach you how to interface ROS with your hardware. Lastly, you will be exposed to ROS simulation frameworks such as Gazebo and RotorS and will start creating custom visualizations via rqt.

This book will provide interesting recipes on practical scenarios such as standard message definitions for geometric concepts, sensors, and navigational data that will interoperate your code seamlessly. You will track robot components and manage their coordinate system using the robot geometry library, programming and modeling your robot so it can be understood by your ROS, pose estimation, mapping, localization, and navigation.

This book ends with a project involving motion-planning an industrial, collaborative robot.