Learning ROS for Robotics Programming

Author: Aaron Martinez
Publisher: Packt Publishing Ltd
ISBN: 9781782161455
Release Date: 2013-09-25
Genre: Computers

The book will take an easy-to-follow and engaging tutorial approach, providing a practical and comprehensive way to learn ROS.If you are a robotic enthusiast who wants to learn how to build and program your own robots in an easy-to-develop, maintainable and shareable way, "Learning ROS for Robotics Programming" is for you. In order to make the most of the book, you should have some C++ programming background, knowledge of GNU/Linux systems, and computer science in general. No previous background on ROS is required, since this book provides all the skills required. It is also advisable to have some background on version control systems, like svn or git, which are often used to share the code by the community.

Mastering ROS for Robotics Programming Second Edition

Author: Lentin Joseph
Publisher: Packt Publishing Ltd
ISBN: 9781788474528
Release Date: 2018-02-26
Genre: Computers

Discover best practices and troubleshooting solutions when working on ROS Key Features Develop complex robotic applications using ROS to interface robot manipulators and mobile robots Gain insight into autonomous navigation in mobile robots and motion planning in robot manipulators Discover best practices and troubleshooting solutions Book Description In this day and age, robotics has been gaining a lot of traction in various industries where consistency and perfection matter. Automation is achieved via robotic applications and various platforms that support robotics. The Robot Operating System (ROS) is a modular software platform to develop generic robotic applications. This book focuses on the most stable release of ROS (Kinetic Kame), discusses advanced concepts, and effectively teaches you programming using ROS. We begin with aninformative overview of the ROS framework, which will give you a clear idea of how ROS works. During the course of this book, you’ll learn to build models of complex robots, and simulate and interface the robot using the ROS MoveIt! motion planning library and ROS navigation stacks. Learn to leverage several ROS packages to embrace your robot models. After covering robot manipulation and navigation, you’ll get to grips with the interfacing I/O boards, sensors, and actuators of ROS. Vision sensors are a key component of robots, and an entire chapter is dedicated to the vision sensor and image elaboration, its interface in ROS and programming. You’ll also understand the hardware interface and simulation of complex robots to ROS and ROS Industrial. At the end of this book, you’ll discover the best practices to follow when programming using ROS. What you will learn Create a robot model with a seven-DOF robotic arm and a differential wheeled mobile robot Work with Gazebo and V-REP robotic simulator Implement autonomous navigation in differential drive robots using SLAM and AMCL packages Explore the ROS Pluginlib, ROS nodelets, and Gazebo plugins Interface I/O boards such as Arduino, robot sensors, and high-end actuators Simulate and motion plan an ABB and universal arm using ROS Industrial Explore the latest version of the ROS framework Work with the motion planning of a seven-DOF arm using MoveIt! Who this book is for If you are a robotics enthusiast or researcher who want to learn more about building robot applications using ROS, this book is for you. In order to learn from this book, you should have a basic knowledge of ROS, GNU/Linux, and C++ programming concepts. The book is also excellent for programmers who want to explore the advanced features of ROS.

Learning ROS for Robotics Programming

Author: Enrique Fernández
Publisher: Packt Publishing Ltd
ISBN: 9781783987597
Release Date: 2015-08-18
Genre: Computers

Your one-stop guide to the Robot Operating System About This Book Model your robot on a virtual world and learn how to simulate it Create, visualize, and process Point Cloud information Easy-to-follow, practical tutorials to program your own robots Who This Book Is For If you are a robotic enthusiast who wants to learn how to build and program your own robots in an easy-to-develop, maintainable, and shareable way, this book is for you. In order to make the most of the book, you should have a C++ programming background, knowledge of GNU/Linux systems, and general skill in computer science. No previous background on ROS is required, as this book takes you from the ground up. It is also advisable to have some knowledge of version control systems, such as svn or git, which are often used by the community to share code. What You Will Learn Install a complete ROS Hydro system Create ROS packages and metapackages, using and debugging them in real time Build, handle, and debug ROS nodes Design your 3D robot model and simulate it in a virtual environment within Gazebo Give your robots the power of sight using cameras and calibrate and perform computer vision tasks with them Generate and adapt the navigation stack to work with your robot Integrate different sensors like Range Laser, Arduino, and Kinect with your robot Visualize and process Point Cloud information from different sensors Control and plan motion of robotic arms with multiple joints using MoveIt! In Detail If you have ever tried building a robot, then you know how cumbersome programming everything from scratch can be. This is where ROS comes into the picture. It is a collection of tools, libraries, and conventions that simplifies the robot building process. What's more, ROS encourages collaborative robotics software development, allowing you to connect with experts in various fields to collaborate and build upon each other's work. Packed full of examples, this book will help you understand the ROS framework to help you build your own robot applications in a simulated environment and share your knowledge with the large community supporting ROS. Starting at an introductory level, this book is a comprehensive guide to the fascinating world of robotics, covering sensor integration, modeling, simulation, computer vision, navigation algorithms, and more. You will then go on to explore concepts like topics, messages, and nodes. Next, you will learn how to make your robot see with HD cameras, or navigate obstacles with range sensors. Furthermore, thanks to the contributions of the vast ROS community, your robot will be able to navigate autonomously, and even recognize and interact with you in a matter of minutes. What's new in this updated edition? First and foremost, we are going to work with ROS Hydro this time around. You will learn how to create, visualize, and process Point Cloud information from different sensors. This edition will also show you how to control and plan motion of robotic arms with multiple joints using MoveIt! By the end of this book, you will have all the background you need to build your own robot and get started with ROS. Style and approach This book is an easy-to-follow guide that will help you find your way through the ROS framework. This book is packed with hands-on examples that will help you program your robot and give you complete solutions using ROS open source libraries and tools.

Effective Robotics Programming with ROS

Author: Anil Mahtani
Publisher: Packt Publishing Ltd
ISBN: 9781786461377
Release Date: 2016-12-27
Genre: Computers

Find out everything you need to know to build powerful robots with the most up-to-date ROS About This Book This comprehensive, yet easy-to-follow guide will help you find your way through the ROS framework Successfully design and simulate your 3D robot model and use powerful robotics algorithms and tools to program and set up your robots with an unparalleled experience by using the exciting new features from Robot Kinetic Use the latest version of gazebo simulator, OpenCV 3.0, and C++11 standard for your own algorithms Who This Book Is For This book is suitable for an ROS beginner as well as an experienced ROS roboticist or ROS user or developer who is curious to learn ROS Kinetic and its features to make an autonomous Robot. The book is also suitable for those who want to integrate sensors and embedded systems with other software and tools using ROS as a framework. What You Will Learn Understand the concepts of ROS, the command-line tools, visualization GUIs, and how to debug ROS Connect robot sensors and actuators to ROS Obtain and analyze data from cameras and 3D sensors Use Gazebo for robot/sensor and environment simulation Design a robot and see how to make it map the environment, navigate autonomously, and manipulate objects in the environment using MoveIt! Add vision capabilities to the robot using OpenCV 3.0 Add 3D perception capabilities to the robot using the latest version of PCL In Detail Building and programming a robot can be cumbersome and time-consuming, but not when you have the right collection of tools, libraries, and more importantly expert collaboration. ROS enables collaborative software development and offers an unmatched simulated environment that simplifies the entire robot building process. This book is packed with hands-on examples that will help you program your robot and give you complete solutions using open source ROS libraries and tools. It also shows you how to use virtual machines and Docker containers to simplify the installation of Ubuntu and the ROS framework, so you can start working in an isolated and control environment without changing your regular computer setup. It starts with the installation and basic concepts, then continues with more complex modules available in ROS such as sensors and actuators integration (drivers), navigation and mapping (so you can create an autonomous mobile robot), manipulation, Computer Vision, perception in 3D with PCL, and more. By the end of the book, you'll be able to leverage all the ROS Kinetic features to build a fully fledged robot for all your needs. Style and approach This book is packed with hands-on examples that will help you program your robot and give you complete solutions using ROS open source libraries and tools. All the robotics concepts and modules are explained and multiple examples are provided so that you can understand them easily.

A Systematic Approach to Learning Robot Programming with ROS

Author: Wyatt Newman
Publisher: CRC Press
ISBN: 9781498777841
Release Date: 2017-09-15
Genre: Computers

A Systematic Approach to Learning Robot Programming with ROS provides a comprehensive, introduction to the essential components of ROS through detailed explanations of simple code examples along with the corresponding theory of operation. The book explores the organization of ROS, how to understand ROS packages, how to use ROS tools, how to incorporate existing ROS packages into new applications, and how to develop new packages for robotics and automation. It also facilitates continuing education by preparing the reader to better understand the existing on-line documentation. The book is organized into six parts. It begins with an introduction to ROS foundations, including writing ROS nodes and ROS tools. Messages, Classes, and Servers are also covered. The second part of the book features simulation and visualization with ROS, including coordinate transforms. The next part of the book discusses perceptual processing in ROS. It includes coverage of using cameras in ROS, depth imaging and point clouds, and point cloud processing. Mobile robot control and navigation in ROS is featured in the fourth part of the book The fifth section of the book contains coverage of robot arms in ROS. This section explores robot arm kinematics, arm motion planning, arm control with the Baxter Simulator, and an object-grabber package. The last part of the book focuses on system integration and higher-level control, including perception-based and mobile manipulation. This accessible text includes examples throughout and C++ code examples are also provided at https://github.com/wsnewman/learning_ros

Programming Robots with ROS

Author: Morgan Quigley
Publisher: "O'Reilly Media, Inc."
ISBN: 9781449325510
Release Date: 2015-11-16
Genre: Computers

Want to develop novel robot applications, but don’t know how to write a mapping or object-recognition system? You’re not alone, but you’re certainly not without help. By combining real-world examples with valuable knowledge from the Robot Operating System (ROS) community, this practical book provides a set of motivating recipes for solving specific robotics use cases. Ideal for enthusiasts, from students in robotics clubs to professional robotics scientists and engineers, each recipe describes a complete solution using ROS open source libraries and tools. You’ll learn how to complete tasks described in the recipes, as well as how to configure and recombine components for other tasks. If you’re familiar with Python, you’re ready to go. Learn fundamentals, including key ROS concepts, tools, and patterns Program robots that perform an increasingly complex set of behaviors, using the powerful packages in ROS See how to easily add perception and navigation abilities to your robots Integrate your own sensors, actuators, software libraries, and even a whole robot into the ROS ecosystem Learn tips and tricks for using ROS tools and community resources, debugging robot behavior, and using C++ in ROS

ROS Robotics By Example

Author: Carol Fairchild
Publisher: Packt Publishing Ltd
ISBN: 9781788474726
Release Date: 2017-11-30
Genre: Computers

Learning how to build and program your own robots with the most popular open source robotics programming framework About This Book Get to know the fundamentals of ROS and apply its concepts to real examples Learn how to write robotics applications without getting bogged down in hardware problems Learn to implement best practices in ROS development Who This Book Is For This book is for robotic enthusiasts, researchers and professional robotics engineers who would like to build robot applications using ROS. It gives the robotics beginner and the ROS newbie an immensely practical introduction to robot building and robotics application coding. Basic knowledge of GNU/Linux and the ability to write simple applications is assumed, but no robotics knowledge, practical or theoretical, is needed. What You Will Learn Control a robot without requiring a PhD in robotics Simulate and control a robot arm Control a flying robot Send your robot on an independent mission Learning how to control your own robots with external devices Program applications running on your robot Extend ROS itself Extend ROS with the MATLAB Robotics System Toolbox In Detail ROS is a robust robotics framework that works regardless of hardware architecture or hardware origin. It standardizes most layers of robotics functionality from device drivers to process control and message passing to software package management. But apart from just plain functionality, ROS is a great platform to learn about robotics itself and to simulate, as well as actually build, your first robots. This does not mean that ROS is a platform for students and other beginners; on the contrary, ROS is used all over the robotics industry to implement flying, walking and diving robots, yet implementation is always straightforward, and never dependent on the hardware itself. ROS Robotics has been the standard introduction to ROS for potential professionals and hobbyists alike since the original edition came out; the second edition adds a gradual introduction to all the goodness available with the Kinetic Kame release. By providing you with step-by-step examples including manipulator arms and flying robots, the authors introduce you to the new features. The book is intensely practical, with space given to theory only when absolutely necessary. By the end of this book, you will have hands-on experience on controlling robots with the best possible framework. Style and approach ROS Robotics By Example, Second Edition gives the robotics beginner as well as the ROS newbie an immensely practical introduction to robot building and robotics application coding. ROS translates as "robot operating system"; you will learn how to control a robot via devices and configuration files, but you will also learn how to write robot applications on the foundation of this operating system.

Learning Robotics Using Python

Author: Lentin Joseph
Publisher: Packt Publishing Ltd
ISBN: 9781783287543
Release Date: 2015-05-27
Genre: Computers

If you are an engineer, a researcher, or a hobbyist, and you are interested in robotics and want to build your own robot, this book is for you. Readers are assumed to be new to robotics but should have experience with Python.

ROS Robotics Projects

Author: Lentin Joseph
Publisher: Packt Publishing Ltd
ISBN: 9781783554720
Release Date: 2017-03-31
Genre: Computers

Build a variety of awesome robots that can see, sense, move, and do a lot more using the powerful Robot Operating System About This Book Create and program cool robotic projects using powerful ROS libraries Work through concrete examples that will help you build your own robotic systems of varying complexity levels This book provides relevant and fun-filled examples so you can make your own robots that can run and work Who This Book Is For This book is for robotic enthusiasts and researchers who would like to build robot applications using ROS. If you are looking to explore advanced ROS features in your projects, then this book is for you. Basic knowledge of ROS, GNU/Linux, and programming concepts is assumed. What You Will Learn Create your own self-driving car using ROS Build an intelligent robotic application using deep learning and ROS Master 3D object recognition Control a robot using virtual reality and ROS Build your own AI chatter-bot using ROS Get to know all about the autonomous navigation of robots using ROS Understand face detection and tracking using ROS Get to grips with teleoperating robots using hand gestures Build ROS-based applications using Matlab and Android Build interactive applications using TurtleBot In Detail Robot Operating System is one of the most widely used software frameworks for robotic research and for companies to model, simulate, and prototype robots. Applying your knowledge of ROS to actual robotics is much more difficult than people realize, but this title will give you what you need to create your own robotics in no time! This book is packed with over 14 ROS robotics projects that can be prototyped without requiring a lot of hardware. The book starts with an introduction of ROS and its installation procedure. After discussing the basics, you'll be taken through great projects, such as building a self-driving car, an autonomous mobile robot, and image recognition using deep learning and ROS. You can find ROS robotics applications for beginner, intermediate, and expert levels inside! This book will be the perfect companion for a robotics enthusiast who really wants to do something big in the field. Style and approach This book is packed with fun-filled, end-to-end projects on mobile, armed, and flying robots, and describes the ROS implementation and execution of these models.

ROS Robotics By Example Second Edition

Author: Carol Fairchild
Publisher:
ISBN: 1788479599
Release Date: 2017-11-30
Genre: Computers

Learning how to build and program your own robots with the most popular open source robotics programming frameworkAbout This Book* Get to know the fundamentals of ROS and apply its concepts to real examples* Learn how to write robotics applications without getting bogged down in hardware problems* Learn to implement best practices in ROS development Who This Book Is ForThis book is for robotic enthusiasts, researchers and professional robotics engineers who would like to build robot applications using ROS. It gives the robotics beginner and the ROS newbie an immensely practical introduction to robot building and robotics application coding. Basic knowledge of GNU/Linux and the ability to write simple applications is assumed, but no robotics knowledge, practical or theoretical, is needed.What You Will Learn* Control a robot without requiring a PhD in robotics* Simulate and control a robot arm* Control a flying robot* Send your robot on an independent mission* Learning how to control your own robots with external devices* Program applications running on your robot* Extend ROS itself* Extend ROS with the MATLAB Robotics System ToolboxIn DetailROS is a robust robotics framework that works regardless of hardware architecture or hardware origin. It standardizes most layers of robotics functionality from device drivers to process control and message passing to software package management.But apart from just plain functionality, ROS is a great platform to learn about robotics itself and to simulate, as well as actually build, your first robots. This does not mean that ROS is a platform for students and other beginners; on the contrary, ROS is used all over the robotics industry to implement flying, walking and diving robots, yet implementation is always straightforward, and never dependent on the hardware itself.ROS Robotics has been the standard introduction to ROS for potential professionals and hobbyists alike since the original edition came out; the second edition adds a gradual introduction to all the goodness available with the Kinetic Kame release.By providing you with step-by-step examples including manipulator arms and flying robots, the authors introduce you to the new features. The book is intensely practical, with space given to theory only when absolutely necessary. By the end of this book, you will have hands-on experience on controlling robots with the best possible framework.Style and approachROS Robotics By Example, Second Edition gives the robotics beginner as well as the ROS newbie an immensely practical introduction to robot building and robotics application coding. ROS translates as "robot operating system"; you will learn how to control a robot via devices and configuration files, but you will also learn how to write robot applications on the foundation of this operating system.

Robot Operating System ROS

Author: Anis Koubaa
Publisher: Springer
ISBN: 9783319260549
Release Date: 2016-02-09
Genre: Technology & Engineering

The objective of this book is to provide the reader with a comprehensive coverage on the Robot Operating Systems (ROS) and latest related systems, which is currently considered as the main development framework for robotics applications. The book includes twenty-seven chapters organized into eight parts. Part 1 presents the basics and foundations of ROS. In Part 2, four chapters deal with navigation, motion and planning. Part 3 provides four examples of service and experimental robots. Part 4 deals with real-world deployment of applications. Part 5 presents signal-processing tools for perception and sensing. Part 6 provides software engineering methodologies to design complex software with ROS. Simulations frameworks are presented in Part 7. Finally, Part 8 presents advanced tools and frameworks for ROS including multi-master extension, network introspection, controllers and cognitive systems. This book will be a valuable companion for ROS users and developers to learn more ROS capabilities and features.

Introduction to Autonomous Mobile Robots

Author: Roland Siegwart
Publisher: MIT Press
ISBN: 9780262015356
Release Date: 2011-02-18
Genre: Computers

Machine generated contents note: |g 1. |t Introduction -- |g 1.1. |t Introduction -- |g 1.2. |t An Overview of the Book -- |g 2. |t Locomotion -- |g 2.1. |t Introduction -- |g 2.1.1. |t Key issues for locomotion -- |g 2.2. |t Legged Mobile Robots -- |g 2.2.1. |t Leg configurations and stability -- |g 2.2.2. |t Consideration of dynamics -- |g 2.2.3. |t Examples of legged robot locomotion -- |g 2.3. |t Wheeled Mobile Robots -- |g 2.3.1. |t Wheeled locomotion: The design space -- |g 2.3.2. |t Wheeled locomotion: Case studies -- |g 2.4. |t Aerial Mobile Robots -- |g 2.4.1. |t Introduction -- |g 2.4.2. |t Aircraft configurations -- |g 2.4.3. |t State of the art in autonomous VTOL -- |g 2.5. |t Problems -- |g 3. |t Mobile Robot Kinematics -- |g 3.1. |t Introduction -- |g 3.2. |t Kinematic Models and Constraints -- |g 3.2.1. |t Representing robot position -- |g 3.2.2. |t Forward kinematic models -- |g 3.2.3. |t Wheel kinematic constraints -- |g 3.2.4. |t Robot kinematic constraints -- |g 3.g 3.3. |t Mobile Robot Maneuverability -- |g 3.3.1. |t Degree of mobility -- |g 3.3.2. |t Degree of steerability -- |g 3.3.3. |t Robot maneuverability -- |g 3.4. |t Mobile Robot Workspace -- |g 3.4.1. |t Degrees of freedom -- |g 3.4.2. |t Holonomic robots -- |g 3.4.3. |t Path and trajectory considerations -- |g 3.5. |t Beyond Basic Kinematics -- |g 3.6. |t Motion Control (Kinematic Control) -- |g 3.6.1. |t Open loop control (trajectory-following) -- |g 3.6.2. |t Feedback control -- |g 3.7. |t Problems -- |g 4. |t Perception -- |g 4.1. |t Sensors for Mobile Robots -- |g 4.1.1. |t Sensor classification -- |g 4.1.2. |t Characterizing sensor performance -- |g 4.1.3. |t Representing uncertainty -- |g 4.1.4. |t Wheel/motor sensors -- |g 4.1.5. |t Heading sensors -- |g 4.1.6. |t Accelerometers -- |g 4.1.7. |t Inertial measurement unit (IMU) -- |g 4.1.8. |t Ground beacons -- |g 4.1.9. |t Active ranging -- |g 4.1.10. |t Motion/speed sensors -- |g 4.1.11. |t Vision sensors -- |g 4.2. |t Fundameng 4.2.5. |t Structure from stereo -- |g 4.2.6. |t Structure from motion -- |g 4.2.7. |t Motion and optical flow -- |g 4.2.8. |t Color tracking -- |g 4.3. |t Fundamentals of Image Processing -- |g 4.3.1. |t Image filtering -- |g 4.3.2. |t Edge detection -- |g 4.3.3. |t Computing image similarity -- |g 4.4. |t Feature Extraction -- |g 4.5. |t Image Feature Extraction: Interest Point Detectors -- |g 4.5.1. |t Introduction -- |g 4.5.2. |t Properties of the ideal feature detector -- |g 4.5.3. |t Corner detectors -- |g 4.5.4. |t Invariance to photometric and geometric changes -- |g 4.5.5. |t Blob detectors -- |g 4.6. |t Place Recognition -- |g 4.6.1. |t Introduction -- |g 4.6.2. |t From bag of features to visual words -- |g 4.6.3. |t Efficient location recognition by using an inverted file -- |g 4.6.4. |t Geometric verification for robust place recognition -- |g 4.6.5. |t Applications -- |g 4.6.6. |t Other image representations for place recognition -- |g 4.7. |t Feature Extraction Based ong 4.7.3. |t Range histogram features -- |g 4.7.4. |t Extracting other geometric features -- |g 4.8. |t Problems -- |g 5. |t Mobile Robot Localization -- |g 5.1. |t Introduction -- |g 5.2. |t The Challenge of Localization: Noise and Aliasing -- |g 5.2.1. |t Sensor noise -- |g 5.2.2. |t Sensor aliasing -- |g 5.2.3. |t Effector noise -- |g 5.2.4. |t An error model for odometric position estimation -- |g 5.3. |t To Localize or Not to Localize: Localization-Based Navigation Versus Programmed Solutions -- |g 5.4. |t Belief Representation -- |g 5.4.1. |t Single-hypothesis belief -- |g 5.4.2. |t Multiple-hypothesis belief -- |g 5.5. |t Map Representation -- |g 5.5.1. |t Continuous representations -- |g 5.5.2. |t Decomposition strategies -- |g 5.5.3. |t State of the art: Current challenges in map representation -- |g 5.6. |t Probabilistic Map-Based Localization -- |g 5.6.1. |t Introduction -- |g 5.6.2. |t The robot localization problem -- |g 5.6.3. |t Basic concepts of probability theory -- |gg 5.6.6. |t Classification of localization problems -- |g 5.6.7. |t Markov localization -- |g 5.6.8. |t Kalman filter localization -- |g 5.7. |t Other Examples of Localization Systems -- |g 5.7.1. |t Landmark-based navigation -- |g 5.7.2. |t Globally unique localization -- |g 5.7.3. |t Positioning beacon systems -- |g 5.7.4. |t Route-based localization -- |g 5.8. |t Autonomous Map Building -- |g 5.8.1. |t Introduction -- |g 5.8.2. |t SLAM: The simultaneous localization and mapping problem -- |g 5.8.3. |t Mathematical definition of SLAM -- |g 5.8.4. |t Extended Kalman Filter (EKF) SLAM -- |g 5.8.5. |t Visual SLAM with a single camera -- |g 5.8.6. |t Discussion on EKF SLAM -- |g 5.8.7. |t Graph-based SLAM -- |g 5.8.8. |t Particle filter SLAM -- |g 5.8.9. |t Open challenges in SLAM -- |g 5.8.10. |t Open source SLAM software and other resources -- |g 5.9. |t Problems -- |g 6. |t Planning and Navigation -- |g 6.1. |t Introduction -- |g 6.2. |t Competences for Navigation: Planning and Reactig 6.4. |t Obstacle avoidance -- |g 6.4.1. |t Bug algorithm -- |g 6.4.2. |t Vector field histogram -- |g 6.4.3. |t The bubble band technique -- |g 6.4.4. |t Curvature velocity techniques -- |g 6.4.5. |t Dynamic window approaches -- |g 6.4.6. |t The Schlegel approach to obstacle avoidance -- |g 6.4.7. |t Nearness diagram -- |g 6.4.8. |t Gradient method -- |g 6.4.9. |t Adding dynamic constraints -- |g 6.4.10. |t Other approaches -- |g 6.4.11. |t Overview -- |g 6.5. |t Navigation Architectures -- |g 6.5.1. |t Modularity for code reuse and sharing -- |g 6.5.2. |t Control localization -- |g 6.5.3. |t Techniques for decomposition -- |g 6.5.4. |t Case studies: tiered robot architectures -- |g 6.6. |t Problems -- |t Bibliography -- |t Books -- |t Papers -- |t Referenced Webpages.

Effective Robotics Programming with ROS Third Edition

Author: Anil Mahtani
Publisher:
ISBN: 1786463652
Release Date: 2016-12-27
Genre:

Find out everything you need to know to build powerful robots with the most up-to-date ROSAbout This Book- This comprehensive, yet easy-to-follow guide will help you find your way through the ROS framework- Successfully design and simulate your 3D robot model and use powerful robotics algorithms and tools to program and set up your robots with an unparalleled experience by using the exciting new features from Robot Kinetic- Use the latest version of gazebo simulator, OpenCV 3.0, and C++11 standard for your own algorithmsWho This Book Is ForThis book is suitable for an ROS beginner as well as an experienced ROS roboticist or ROS user or developer who is curious to learn ROS Kinetic and its features to make an autonomous Robot. The book is also suitable for those who want to integrate sensors and embedded systems with other software and tools using ROS as a framework.What You Will Learn- Understand the concepts of ROS, the command-line tools, visualization GUIs, and how to debug ROS- Connect robot sensors and actuators to ROS- Obtain and analyze data from cameras and 3D sensors- Use Gazebo for robot/sensor and environment simulation- Design a robot and see how to make it map the environment, navigate autonomously, and manipulate objects in the environment using MoveIt!- Add vision capabilities to the robot using OpenCV 3.0- Add 3D perception capabilities to the robot using the latest version of PCLIn DetailBuilding and programming a robot can be cumbersome and time-consuming, but not when you have the right collection of tools, libraries, and more importantly expert collaboration. ROS enables collaborative software development and offers an unmatched simulated environment that simplifies the entire robot building process.This book is packed with hands-on examples that will help you program your robot and give you complete solutions using open source ROS libraries and tools. It also shows you how to use virtual machines and Docker containers to simplify the installation of Ubuntu and the ROS framework, so you can start working in an isolated and control environment without changing your regular computer setup.It starts with the installation and basic concepts, then continues with more complex modules available in ROS such as sensors and actuators integration (drivers), navigation and mapping (so you can create an autonomous mobile robot), manipulation, Computer Vision, perception in 3D with PCL, and more. By the end of the book, you'll be able to leverage all the ROS Kinetic features to build a fully fledged robot for all your needs.Style and approachThis book is packed with hands-on examples that will help you program your robot and give you complete solutions using ROS open source libraries and tools. All the robotics concepts and modules are explained and multiple examples are provided so that you can understand them easily.

Robotics Vision and Control

Author: Peter Corke
Publisher: Springer
ISBN: 9783642201448
Release Date: 2011-09-05
Genre: Technology & Engineering

The practice of robotics and computer vision both involve the application of computational algorithms to data. Over the fairly recent history of the fields of robotics and computer vision a very large body of algorithms has been developed. However this body of knowledge is something of a barrier for anybody entering the field, or even looking to see if they want to enter the field — What is the right algorithm for a particular problem?, and importantly, How can I try it out without spending days coding and debugging it from the original research papers? The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provide a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself. The purpose of this book is to expand on the tutorial material provided with the toolboxes, add many more examples, and to weave this into a narrative that covers robotics and computer vision separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and computer vision. It is written in a light but informative style, it is easy to read and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals of robot kinematics, dynamics and joint level control, then camera models, image processing, feature extraction and epipolar geometry, and bring it all together in a visual servo system. Additional material is provided at http://www.petercorke.com/RVC

Robot Programming

Author: Cameron Hughes
Publisher: Que Publishing
ISBN: 9780134176697
Release Date: 2016-05-02
Genre: Technology & Engineering

Start programming robots NOW! Learn hands-on, through easy examples, visuals, and code This is a unique introduction to programming robots to execute tasks autonomously. Drawing on years of experience in artificial intelligence and robot programming, Cameron and Tracey Hughes introduce the reader to basic concepts of programming robots to execute tasks without the use of remote controls. Robot Programming: A Guide to Controlling Autonomous Robots takes the reader on an adventure through the eyes of Midamba, a lad who has been stranded on a desert island and must find a way to program robots to help him escape. In this guide, you are presented with practical approaches and techniques to program robot sensors, motors, and translate your ideas into tasks a robot can execute autonomously. These techniques can be used on today’s leading robot microcontrollers (ARM9 and ARM7) and robot platforms (including the wildly popular low-cost Arduino platforms, LEGO® Mindstorms EV3, NXT, and Wowee RS Media Robot) for your hardware/Maker/DIY projects. Along the way the reader will learn how to: Program robot sensors and motors Program a robot arm to perform a task Describe the robot’s tasks and environments in a way that a robot can process using robot S.T.O.R.I.E.S. Develop a R.S.V.P. (Robot Scenario Visual Planning) used for designing the robot’s tasks in an environment Program a robot to deal with the “unexpected” using robot S.P.A.C.E.S. Program robots safely using S.A.R.A.A. (Safe Autonomous Robot Application Architecture) Approach Program robots using Arduino C/C++ and Java languages Use robot programming techniques with LEGO® Mindstorms EV3, Arduino, and other ARM7 and ARM9-based robots.