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Full Description
Develop, simulate, and deploy intelligent robotic systems using ROS with hands-on guidance for 3D modeling, hardware integration, and motion planning
Key Features
Implement complex simulations using Gazebo, Webots, and CoppeliaSim alongside MoveIt! for motion planning
Integrate sensors, vision modules, and I/O boards for real-world robot control
Bridge ROS with MATLAB, Simulink, and industrial robots for advanced deployments
Book DescriptionThe Robot Operating System (ROS) is a software framework used for programming complex robots. ROS enables you to develop software for building complex robots without writing code from scratch, saving valuable development time. 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 begins 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 forThis book is ideal for robotics engineers, researchers, or software developers familiar with Linux and C++ who want to deepen their ROS expertise. It's especially valuable for those building real-world robot applications using simulation tools, MoveIt!, and sensor integration. A working knowledge of basic ROS concepts is expected.
Contents
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
