Develop complex robotic applications using ROS for interfacing robot manipulators and mobile robots with the help of high end robotic sensors
Gain insights into autonomous navigation in mobile robot and motion planning in robot manipulators
Discover the best practices and troubleshooting solutions everyone needs when working on ROS

Book Description

The area of robotics is gaining huge momentum among corporate people, researchers, hobbyists, and students. The major challenge in robotics is its controlling software. The Robot Operating System (ROS) is a modular software platform to develop generic robotic applications.

This book discusses the advanced concepts in robotics and how to program using ROS. It starts with deep overview of the ROS framework, which will give you a clear idea of how ROS really works. During the course of the book, you will learn how to build models of complex robots, and simulate and interface the robot using the ROS MoveIt motion planning library and ROS navigation stacks.

After discussing robot manipulation and navigation in robots, you will get to grips with the interfacing I/O boards, sensors, and actuators of ROS. One of the essential ingredients of robots are vision sensors, and an entire chapter is dedicated to the vision sensor, its interfacing in ROS, and its programming.

You will discuss the hardware interfacing and simulation of complex robot to ROS and ROS Industrial (Package used for interfacing industrial robots).

Finally, you will get to know the best practices to follow when programming using ROS.

What you will learn

Create a robot model of a Seven-DOF robotic arm and a differential wheeled mobile robot
Work with motion planning of a Seven-DOF arm using MoveIt!
Implement autonomous navigation in differential drive robots using SLAM and AMCL packages in ROS
Dig deep into the ROS Pluginlib, ROS nodelets, and Gazebo plugins
Interface I/O boards such as Arduino, Robot sensors, and High end actuators with ROS
Simulation and motion planning of ABB and Universal arm using ROS Industrial
Explore the ROS framework using its latest version

Table of Contents

Introduction to ROS and Its Package Management
Working with 3D Robot Modeling in ROS
Simulating Robots Using ROS and Gazebo
Using the ROS MoveIt! and Navigation Stack
Working with Pluginlib, Nodelets, and Gazebo Plugins
Writing ROS Controllers and Visualization Plugins
Interfacing I/O Boards, Sensors, and Actuators to ROS
Programming Vision Sensors using ROS, Open-CV, and PCL
Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
Exploring the Advanced Capabilities of ROS-MoveIt!
ROS for Industrial Robots
Troubleshooting and Best Practices in ROS

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