Robot Operating System (ROS) for Absolute Beginners - Robotics Programming Made Easy (2nd Edition)

Start programming your own robots using Robot Operation System (ROS). Targeted for absolute beginners in ROS, Linux, and Python, this guide lets you build your own robotics projects. You'll learn the basic foundation of Ubuntu Linux. Begin with the fundamentals. Installation and useful commands...

Full description

Saved in:
Bibliographic Details
Main Author: Lentin Joseph, Aleena Johny
Format: eBook
Language:English
Published: Berkeley, CA Apress, an imprint of Springer Nature 2022
Apress
Apress L. P
Edition:2
Subjects:
Artificial Intelligence
Computer Science
COMPUTERS
General Engineering & Project Administration
General References
Hardware and Maker
Machine Design
Mechanics & Mechanical Engineering
Operating systems (Computers)
Professional and Applied Computing
Robotics
Robots-Control systems
Software Engineering
ISBN:9781484277492, 148427749X, 9781484277508, 1484277503
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Table of Contents:
  • Title Page Table of Contents 1. Getting Started with Ubuntu Linux for Robotics 2. Fundamentals of C++ for Robotics Programming 3. Fundamentals of Python for Robotics Programming 4. Kick-Starting Robot Programming Using ROS 5. Programming with ROS 6. Robotics Project Using ROS Index
  • Building Robot Hardware -- Buying Robot Components -- Robot Chassis -- Additional Motors and Wheels -- Motor Driver -- Optical Encoder -- Microcontroller Board -- Bluetooth Breakout -- Sharp IR Range Sensor -- Block Diagram of the Robot -- Assembling Robot Hardware -- Creating a 3D ROS Model Using URDF -- Working with Robot Firmware -- Programming Robot Using ROS -- The Teleop Node -- The Twist Message to Motor Velocity Node -- The Diff to TF Node -- The Dead-Reckoning Node -- Final Run -- Summary -- Index
  • Introduction to GNU Project Debugger (GDB) -- Installing GDB in Ubuntu Linux -- Verifying Installation -- Writing Your First Code -- Explaining Code -- Compiling Your Code -- Debugging Your Code -- Learning OOP Concepts from Examples -- The Differences Between Classes and Structs -- C++ Classes and Objects -- Class Access Modifier -- C++ Inheritance -- C++ Files and Streams -- Namespaces in C++ -- C++ Exception Handling -- C++ Standard Template Libraries -- Building a C++ Project -- Creating a Linux Makefile -- Creating a CMake File -- Summary -- Chapter 3: Fundamentals of Python for Robotics Programming -- Getting Started with Python -- Timeline: The Python Language -- Python in Ubuntu Linux -- Introduction to Python Interpreter -- Setting Python 3 on Ubuntu 20.04 LTS -- Verifying Python Installation -- Writing Your First Code -- Running Python Code -- Understanding Python Basics -- What's New in Python? -- Static and Dynamic Typing -- Code Indentation -- Semicolons -- Python Variables -- Python Input and Conditional Statement -- Python: Loops -- Python: Functions -- Python: Handling Exception -- Python: Classes -- Python: Files -- Python: Modules -- Python: Handling Serial Ports -- Installing PySerial in Ubuntu 20.04 -- Python: Scientific Computing and Visualization -- Python: Machine Learning and Deep Learning -- Python: Computer Vision -- Python: Robotics -- Python: IDEs -- Summary -- Chapter 4: Kick-Starting Robot Programming Using ROS -- What Is Robot Programming? -- Why Robot Programming Is Different -- Getting Started with ROS -- The ROS Equation -- Robot Programming Before and After ROS -- The History of ROS -- Before and After ROS -- Why Use ROS? -- Installing ROS -- Robots and Sensors Supporting ROS -- Popular ROS Computing Platforms -- ROS Architecture and Concepts -- The ROS File System -- ROS Computation Concepts -- The ROS Community
  • ROS Command Tools -- ROS Demo: Hello World Example -- ROS Demo: turtlesim -- Moving the Turtle -- Moving the Turtle in a Square -- ROS GUI Tools: Rviz and Rqt -- Summary -- Chapter 5: Programming with ROS -- Programming Using ROS -- Creating a ROS Workspace and Package -- ROS Build System -- ROS Catkin Workspace -- src Folder -- build Folder -- devel Folder -- install Folder -- Creating a ROS Package -- Using ROS Client Libraries -- roscpp and rospy -- Header Files and ROS Modules -- Initializing a ROS Node -- Printing Messages in a ROS Node -- Creating a Node Handle -- Creating a ROS Message Definition -- Publishing a Topic in ROS Node -- Subscribing a Topic in ROS Node -- Writing the Callback Function in ROS Node -- The ROS Spin Function in ROS Node -- The ROS Sleep Function in ROS Node -- Setting and Getting a ROS Parameter -- The Hello World Example Using ROS -- Creating a hello_world Package -- Creating a ROS C++ Node -- Editing the CMakeLists.txt File -- Building C++ Nodes -- Executing C++ Nodes -- Creating Python Nodes -- Executing Python Nodes -- Creating Launch Files -- Visualizing a Computing Graph -- Programming turtlesim Using rospy -- Moving turtlesim -- Printing the Robot's Position -- Moving the Robot with Position Feedback -- Reset and Change the Background Color -- Programming TurtleBot Simulation Using rospy -- Installing TurtleBot 3 Packages -- Launching the TurtleBot Simulation -- Gazebo Simulation -- Moving a Fixed Distance Using a Python Node -- Finding Obstacles -- Programming Embedded Boards Using ROS -- Interfacing Arduino with ROS -- Installing ROS on a Raspberry Pi -- Burning an Ubuntu Mate Image to a Micro SD Card -- Booting to Ubuntu -- Installing ROS on a Raspberry Pi -- Summary -- Chapter 6: Robotics Project Using ROS -- Getting Started with Wheeled Robots -- Differential Drive Robot Kinematics
  • Intro -- Table of Contents -- About the Authors -- About the Technical Reviewer -- Acknowledgments -- Chapter 1: Getting Started with Ubuntu Linux for Robotics -- Getting Started with GNU/Linux -- What Is Ubuntu? -- Why Ubuntu for Robotics? -- Installing Ubuntu -- Minimum PC Requirements -- Downloading Ubuntu -- Installing VirtualBox -- Creating a VirtualBox Machine -- Step 1: Adding a New Virtual Machine -- Step 2: Naming the Guest Operating System -- Step 3: Allocating RAM for the Guest OS -- Step 4: Creating a Virtual Hard Disk -- Step 5: Configuring the Type of Virtual Disk -- Step 6: Choosing Ubuntu DVD Image -- Step 7: Starting Virtual Machine -- Installing Ubuntu on VirtualBox -- Installing Ubuntu on a PC -- Playing with the Ubuntu Graphical User Interface -- The Ubuntu File System -- Useful Ubuntu Applications -- Getting Started with Shell Commands -- Terminal Commands Cheat Sheet -- man: Manual Pages for Shell Commands -- ls: List Directory Content -- cd: Change Directory -- pwd: Current Terminal Path -- mkdir: Create a Folder -- rm: Delete a File -- rmdir: Delete a Folder -- mv: Move a File from One Place to Another -- cp: Copy a File from One Path to Another -- dmesg: Display a Kernel Message -- lspci: List of PCI Devices in the System -- lsusb: List of USB Devices in the System -- sudo: Run a Command in Administrative Mode -- ps: List the Running Process -- kill: Kill a Process -- apt-get: Install a Package in Ubuntu -- dpkg -i: Install a Package in Ubuntu -- reboot: Reboot the System -- poweroff: Switch Off the System -- htop: Terminal Process View -- nano: Text Editor in Terminal -- Summary -- Chapter 2: Fundamentals of C++ for Robotics Programming -- Getting Started with C++ -- Timeline: The C++ Language -- C/C++ in Ubuntu Linux -- Introduction to GCC and G++ Compilers -- Installing C/C++ Compiler -- Verifying Installation