Mastering ROS for Robotics Programming（Second Edition）

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Title Page

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Contributors

About the authors

About the reviewer

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Preface

Who this book is for

What this book covers

To get the most out of this book

Download the example code files

Download the color images

Conventions used

Get in touch

Reviews

Introduction to ROS

Why should we learn ROS?

Why we prefer ROS for robots

Why some do not prefer ROS for robots

Understanding the ROS filesystem level

ROS packages

ROS metapackages

ROS messages

The ROS services

Understanding the ROS computation graph level

ROS nodes

ROS messages

ROS topics

ROS services

ROS bags

The ROS Master

Using the ROS parameter

ROS community level

What are the prerequisites for starting with ROS?

Running the ROS Master and the ROS parameter server

Checking the roscore command output

Questions

Summary

Getting Started with ROS Programming

Creating a ROS package

Working with ROS topics

Creating ROS nodes

Building the nodes

Adding custom msg and srv files

Working with ROS services

Working with ROS actionlib

Creating the ROS action server

Creating the ROS action client

Building the ROS action server and client

Creating launch files

Applications of topics services and actionlib

Maintaining the ROS package

Releasing your ROS package

Preparing the ROS package for the release

Releasing our package

Creating a Wiki page for your ROS package

Questions

Summary

Working with 3D Robot Modeling in ROS

ROS packages for robot modeling

Understanding robot modeling using URDF

Creating the ROS package for the robot description

Creating our first URDF model

Explaining the URDF file

Visualizing the 3D robot model in RViz

Interacting with pan-and-tilt joints

Adding physical and collision properties to a URDF model

Understanding robot modeling using xacro

Using properties

Using the math expression

Using macros

Converting xacro to URDF

Creating the robot description for a seven DOF robot manipulator

Arm specification

Type of joints

Explaining the xacro model of the seven DOF arm

Using constants

Using macros

Including other xacro files

Using meshes in the link

Working with the robot gripper

Viewing the seven DOF arm in RViz

Understanding joint state publisher

Understanding robot state publisher

Creating a robot model for the differential drive mobile robot

Questions

Summary

Simulating Robots Using ROS and Gazebo

Simulating the robotic arm using Gazebo and ROS

Creating the robotic arm simulation model for Gazebo

Adding colors and textures to the Gazebo robot model

Adding transmission tags to actuate the model

Adding the gazebo_ros_control plugin

Adding a 3D vision sensor to Gazebo

Simulating the robotic arm with Xtion Pro

Visualizing the 3D sensor data

Moving robot joints using ROS controllers in Gazebo