ROS by example.pdf

发布时间：2022-05-29 发布人：admin 分类：说明书资料大小：8.32M 资料格式：pdf 举报版权申诉

ji0525084-6540469-4744300845236532069.pdf-第1页.png

第1页 / 共254页

ji0525084-6540469-4744300845236532069.pdf-第2页.png

第2页 / 共254页

ji0525084-6540469-4744300845236532069.pdf-第3页.png

第3页 / 共254页

ji0525084-6540469-4744300845236532069.pdf-第4页.png

第4页 / 共254页

ji0525084-6540469-4744300845236532069.pdf-第5页.png

第5页 / 共254页

ji0525084-6540469-4744300845236532069.pdf-第6页.png

第6页 / 共254页

ji0525084-6540469-4744300845236532069.pdf-第7页.png

第7页 / 共254页

ji0525084-6540469-4744300845236532069.pdf-第8页.png

第8页 / 共254页

Preface

Printed vs PDF Versions of the Book

Changes Since Electric and Fuerte

1. Purpose of this Book

2. Real and Simulated Robots

2.1 Gazebo, Stage, and the ArbotiX Simulator

2.2 Introducing the TurtleBot, Maxwell and Pi Robot

3. Operating Systems and ROS Versions

3.1 Installing Ubuntu Linux

3.2 Getting Started with Linux

3.3 A Note about Updates and Upgrades

4. Reviewing the ROS Basics

4.1 Installing ROS

4.2 Installing rosinstall

4.3 Creating Your Personal ROS Directory

4.4 Working through the Official ROS Tutorials

4.5 RViz: The ROS Visualization Tool

4.6 Using ROS Parameters in your Programs

4.7 Using rqt_reconfigure (formerly dynamic_reconfigure) to set ROS Parameters

4.8 Networking Between a Robot and a Desktop Computer

4.8.1 Time Synchronization

4.8.2 ROS Networking using Zeroconf

4.8.2.1 Testing Connectivity

4.8.2.2 Setting the ROS_MASTER_URI and ROS_HOSTNAME Variables

4.8.2.3 Opening New Terminals

4.8.2.4 Running Nodes on both Machines

4.8.3 ROS Networking across the Internet

4.9 ROS Recap

4.10 The Official ROS Cheat Sheet

4.11 What is a ROS Application?

4.12 Installing Packages with SVN, Git, and Mercurial

4.12.1 SVN

4.12.2 Git

4.12.3 Mercurial

4.13 Removing Packages from your Personal ROS Directory

4.14 How to Find Third-Party ROS Packages

4.14.1 Searching the ROS Wiki

4.14.2 Using the roslocate Command

4.14.3 Browsing the ROS Software Index

4.14.4 Doing a Google Search

4.15 Getting Further Help with ROS

5. Installing the ros-by-example Code

5.1 Installing the Prerequisites

5.2 Cloning the ros-by-example Repository

5.3 About the Code Listings in this Book

6. Installing the Arbotix Simulator

6.1 Installing the Simulator

6.2 Testing the Simulator

6.3 Running the Simulator with Your Own Robot

7. Controlling a Mobile Base

7.1 Units and Coordinate Systems

7.2 Levels of Motion Control

7.2.1 Motors, Wheels, and Encoders

7.2.2 Motor Controllers and Drivers

7.2.3 The ROS Base Controller

7.2.4 Frame-Base Motion using the move_base ROS Package

7.2.5 SLAM using the gmapping and amcl ROS Packages

7.2.6 Semantic Goals

7.2.7 Summary

7.3 Twisting and Turning with ROS

7.3.1 Example Twist Messages

7.3.2 Monitoring Robot Motion using RViz

7.4 Calibrating Your Robot's Odometry

7.4.1 Linear Calibration

7.4.2 Angular Calibration

7.5 Sending Twist Messages to a Real Robot

7.6 Publishing Twist Messages from a ROS Node

7.6.1 Estimating Distance and Rotation Using Time and Speed

7.6.2 Timed Out-and-Back in the ArbotiX Simulator

7.6.3 The Timed Out-and-Back Script

7.6.4 Timed Out and Back using a Real Robot

7.7 Are We There Yet? Going the Distance with Odometry

7.8 Out and Back Using Odometry

7.8.1 Odometry-Based Out and Back in the ArbotiX Simulator

7.8.2 Odometry-Based Out and Back Using a Real Robot

7.8.3 The Odometry-Based Out-and-Back Script

7.8.4 The /odom Topic versus the /odom Frame

7.9 Navigating a Square using Odometry

7.9.1 Navigating a Square in the ArbotiX Simulator

7.9.2 Navigating a Square using a Real Robot

7.9.3 The nav_square.py Script

7.9.4 The Trouble with Dead Reckoning

7.10 Teleoperating your Robot

7.10.1 Using the Keyboard

7.10.2 Using a Logitech Game Pad

7.10.3 Using the ArbotiX Controller GUI

7.10.4 TurtleBot Teleoperation Using Interactive Markers

7.10.5 Writing your Own Teleop Node

8. Navigation, Path Planning and SLAM

8.1 Path Planning and Obstacle Avoidance using move_base

8.1.1 Specifying Navigation Goals Using move_base

8.1.2 Configuration Parameters for Path Planning

8.1.2.1 base_local_planner_params.yaml

8.1.2.2 costmap_common_params.yaml

8.1.2.3 global_costmap_params.yaml

8.1.2.4 local_costmap_params.yaml

8.2 Testing move_base in the ArbotiX Simulator

8.2.1 Point and Click Navigation in RViz

8.2.2 Navigation Display Types for RViz

8.2.3 Navigating a Square using move_base

8.2.4 Avoiding Simulated Obstacles

8.2.5 Setting Manual Goals with Obstacles Present

8.3 Running move_base on a Real Robot

8.3.1 Testing move_base without Obstacles

8.3.2 Avoiding Obstacles using the TurtleBot's Fake Laser Scan

8.4 Map Building using the gmapping Package

8.4.1 Laser Scanner or Depth Camera?

8.4.2 Collecting and Recording Scan Data

8.4.3 Creating the Map

8.4.4 Creating a Map from Bag Data

8.4.5 Can I Extend or Modify an Existing Map?

8.5 Navigation and Localization using a Map and amcl

8.5.1 Testing amcl with Fake Localization

8.5.2 Using amcl with a Real Robot

8.5.3 Fully Autonomous Navigation

8.5.4 Running the Navigation Test in Simulation

8.5.5 Understanding the Navigation Test Script

8.5.6 Running the Navigation Test on a Real Robot

8.5.7 What's Next?

9. Speech Recognition and Synthesis

9.1 Installing PocketSphinx for Speech Recognition

9.2 Testing the PocketSphinx Recognizer

9.3 Creating a Vocabulary

9.4 A Voice-Control Navigation Script

9.4.1 Testing Voice-Control in the ArbotiX Simulator

9.4.2 Using Voice-Control with a Real Robot

9.5 Installing and Testing Festival Text-to-Speech

9.5.1 Using Text-to-Speech within a ROS Node

9.5.2 Testing the talkback.py script

10. Robot Vision

10.1 OpenCV, OpenNI and PCL

10.2 A Note about Camera Resolutions

10.3 Installing and Testing the ROS Camera Drivers

10.3.1 Installing the OpenNI Drivers

10.3.2 Installing Webcam Drivers

10.3.3 Testing your Kinect or Xtion Camera

10.3.4 Testing your USB Webcam

10.4 Installing OpenCV on Ubuntu Linux

10.5 ROS to OpenCV: The cv_bridge Package

10.6 The ros2opencv2.py Utility

10.7 Processing Recorded Video

10.8 OpenCV: The Open Source Computer Vision Library

10.8.1 Face Detection

10.8.2 Keypoint Detection using GoodFeaturesToTrack

10.8.3 Tracking Keypoints using Optical Flow

10.8.4 Building a Better Face Tracker

10.8.5 Dynamically Adding and Dropping Keypoints

10.8.6 Color Blob Tracking (CamShift)

10.9 OpenNI and Skeleton Tracking

10.9.1 Viewing Skeletons in RViz

10.9.2 Accessing Skeleton Frames in your Programs

10.10 PCL Nodelets and 3D Point Clouds

10.10.1 The PassThrough Filter

10.10.2 Combining More than One PassThrough Filter

10.10.3 The VoxelGrid Filter

11. Combining Vision and Base Control

11.1 A Note about Camera Coordinate Axes

11.2 Object Tracker

11.2.1 Testing the Object Tracker with rxplot

11.2.2 Testing the Object Tracker with a Simulated Robot

11.2.3 Understanding the Object Tracker Code

11.2.4 Object Tracking on a Real Robot

11.3 Person Follower

11.3.1 Testing the Follower Application in Simulation

11.3.2 Understanding the Follower Script

11.3.3 Running the Follower Application on a TurtleBot

11.3.4 Running the Follower Node on a Filtered Point Cloud

12. Dynamixel Servos and ROS

12.1 A TurtleBot with a Pan-and-Tilt Head

12.2 Choosing a Dynamixel Hardware Controller

12.3 A Note Regarding Dynamixel Hardware

12.4 Choosing a ROS Dynamixel Package

12.5 Understanding the ROS JointState Message Type

12.6 Controlling Joint Position, Speed and Torque

12.6.1 Setting Servo Position

12.6.2 Setting Servo Speed

12.6.3 Controlling Servo Torque

12.7 Checking the USB2Dynamixel Connection

12.8 Setting the Servo Hardware IDs

12.9 Configuring and Launching dynamixel_controllers

12.9.1 The dynamixel_controllers Configuration File

12.9.2 The dynamixel_controllers Launch File

12.10 Testing the Servos

12.10.1 Starting the Controllers

12.10.2 Monitoring the Robot in RViz

12.10.3 Listing the Controller Topics and Monitoring Joint States

12.10.4 Listing the Controller Services

12.10.5 Setting Servo Position, Speed and Torque

12.10.6 Using the relax_all_servos.py Script

12.11 Tracking a Visual Target

12.11.1 Tracking a Face

12.11.2 The Head Tracker Script

12.11.3 Tracking Colored Objects

12.11.4 Tracking Manually Selected Targets

12.12 A Complete Head Tracking ROS Application

13. Where to Go Next?

ROS By Example A Do-It-Yourself Guide to the Robot Operating System VOLUME 1 A PI ROBOT PRODUCTION R. PATRICK GOEBEL Version 1.03 For ROS Groovy

ROS BY EXAMPLE. Copyright © 2012 by R. Patrick Goebel All Rights Reserved. No part of this work may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, recording, or by any information storage or retrieval system, without the prior written permission of the copyright owner and the publisher. ISBN: 5-800085-311092 Version 1.03 for ROS Groovy: April 2013 LEGO® is a trademark of the LEGO group which does not sponsor, authorize, or endorse this book. Other products and company names mentioned herein may be the trademarks of their respective owners. Rather than use a trademark symbol with every occurrence of a trademark name, we are using the names only in an editorial fashion and to the benefit of the trademark owner, with no intention of infringement of the trademark. Information contained in this work (Paperback or eBook) has been obtained from sources believed to be reliable. However, the author does not guarantee the accuracy or completeness of any information contained in it, and the author shall not be responsible for any errors, omissions, losses, or damages caused or alleged to be caused directly or indirectly by the information published herein. This work is published with the understanding that the author is supplying information but is not attempting to render professional services. This product almost certainly contains errors. It is your responsibility to examine, verify, test, and determine the appropriateness of use, or request the assistance of an appropriate professional to do so.

PREFACE This book is about programming your robot to do amazing things, whether it be detecting people's faces and other visual objects, navigating autonomously around your house, or responding to spoken commands. We will be using some of the most advanced robotics software available today thanks to ROS, the Robot Operating System created by California-based Willow Garage and now maintained by the Open Source Robotics Foundation (OSRF). The primary goal of ROS (pronounced "Ross") is to provide a unified and open source programming framework for controlling robots in a variety of real world and simulated environments. ROS is certainly not the first such effort; in fact, doing a Wikipedia search for "robot software" turns up over 25 such projects. But Willow Garage is no ordinary group of programmers banging out free software. Propelled by some serious funding, strong technical expertise, and a well planned series of developmental milestones, Willow Garage has ignited a kind of programming fever among roboticists with hundreds of user-contributed ROS packages already created in just a few short years. ROS now includes software for tasks ranging from navigation and localization (SLAM), 3D object recognition, action planning, motion control for multi-jointed arms, machine learning and even playing billiards. In the meantime, Willow Garage has also designed and manufactured a $400,000 robot called the PR2 to help showcase its operating system. Using the latest in robot hardware, including two stereo cameras, a pair of laser scanners, arms with 7 degrees of freedom, and an omni-directional drive system, only a lucky few will be able to run ROS directly on the PR2, including 11 research institutions that were awarded free PR2s as part of a beta-test contest. However, you do not need a PR2 to leverage the power of ROS; packages have already been created to support lower-cost platforms and components including the iRobot Create, TurtleBot, Arduino, WowWee Rovio, LEGO® NXT, Phidgets, ArbotiX, Serializer, Element and Robotis Dynamixels. The guiding principle underlying ROS is "don't reinvent the wheel". Many thousands of very smart people have been programming robots for over fifty years—why not bring all that brain power together in one place? Fortunately, the Web is the perfect medium for sharing code. Many universities, companies and individuals now openly share their ROS code repositories, and with free cloud space available through services such as Google Code, anyone can share their own ROS creations easily and at no cost. Perhaps the best part of jumping on the ROS train is the excitement that comes from working with thousands of like-minded roboticists from around the world. Not only will you save many days of frustration by not duplicating someone else's work, you can also feel the satisfaction that comes from contributing back to this rapidly developing field.

分享到：

赞收藏

资料库

ROS by example.pdf

相关推荐

开发技术

热门标签

最新资料