Robot Operating System Cookbook

Key Features

• Delve into an open-source, meta operating system for your robot
• Get acquainted with tools and libraries for building and running code on multiple platforms
• Use Gazebo to create a complex simulation environment for your robot

Book Description

Our book will leverage the power of ROS and will delve into the core components in the form of exciting recipes. The book will start with the use of different communication methods in ROS - synchronous and asynchronous, including messages, services, actions and so on. This book will also help you master advanced debugging and visualization tools along with the open-source implementation of standard robot applications, such as robot control, motion planning, and localization mapping.

This book will teach you how to interface ROS with your hardware. Lastly, you will be exposed to ROS simulation frameworks such as Gazebo and RotorS and will start creating custom visualizations via rqt. This book will provide interesting recipes on practical scenarios such as standard message definitions for geometric concepts, sensors, and navigational data that will inter-operate your code seamlessly. You will track robot components and manage their coordinate system using the robot geometry library, programming and model your robot so it can be understood by your ROS, pose estimation, mapping, localization, and navigation. This book ends with a project involving motion-planning an industrial, collaborative robot.

What you will learn

• Dive into the ROS Pluginlib, ROS nodelets, and Gazebo plugins.
• Simulation and motion planning of ABB and Universal arm using ROS Industrial.
• Implement autonomous navigation in differential drive robots using SLAM and AMCL packages in ROS.
• Learn 3D Modeling and Simulation of MAV using RotorS/Gazebo and ROS.
• Dig deep in ROS-Industrial packages Architecture.
• Integrate your own sensors, actuators, software libraries, and even a whole robot into the ROS ecosystem.

Kumar Bipin pursued MS (Robotics control and Vision) at Robotics research center (RRC) IIIT Hyderabad under the guidance of Dr. K. Madhava Krishna. His research focuses on autonomous navigation of Ground and Arial vehicle which include perception, planning and control. He collaborated with Renault Nissan Automotive India Private Limited for providing design and architecture of Real Time Control System (RCS) for autonomous vehicle driving scenario such as overtaking, cross-road in urban area. Additionally, and provided solution to Department of Science and Technology, India for vision based autonomous navigation of miniature quad-copter in natural environment.

Earlier, as a Technical Specialist, he was accountable to one of Open Source competency group within the STMicrolectronics Research and Development, India center. This competency group has responsibilities to develop knowledge center and technical expertise for next generation system software solution for embedded products those benefit STMicrolectronics strategically in semiconductor market. In the tenure of 5 years with leading research groups he has acquired the knowledge and expertise to provide system level complete solution for semiconductor industries. Previously, he worked with Motorola India Private Limited, Hyderabad for 2 years in area of Intelligent User Interface, which concerns with the application of Artificial Intelligence and Knowledge-based Techniques to address human-computer interaction .

He carried out the Research Fellowship for 1.5 years at Supercomputer Education and Research Center, IISc Bangalore, under the tutelage of Dr. J.Lakshmi . Research activities mostly involved in the area of System Integration and Administration of Heterogeneous Distributed System for High Performance Parallel Computing.