A systematic approach to learning robot programming with ROS:
Gespeichert in:
| 1. Verfasser: | |
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| Format: | Buch |
| Sprache: | English |
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Boca Raton, London, New York
CRC Press
[2018]
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| Online-Zugang: | Inhaltsverzeichnis Inhaltsverzeichnis |
| Beschreibung: | xxiii, 502 Seiten Illustrationen, Diagramme |
| ISBN: | 9781498777827 |
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Datensatz im Suchindex
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| adam_text | A Systematic Approach
to Learning
Robot Programming
with ROS
Wyatt S Newman
CRC Press
Taylor amp; Francis Croup
Boca Raton London New York
CRC Press is an imprint of the
Taylor amp; Francis Croup, an informa business
A CHAPMAN amp; HALL BOOK
Contents
List of Figures xiii
Preface xix
Acknowledgements xxv
Author xxvii
Section I ROS Foundations
Chapter 1 ■ Introduction to ROS: ROS tools and nodes 5
1 1 SOME ROS CONCEPTS 5
1 2 WRITING ROS NODES 8
121 Creating ROS packages 9
122 Writing a minimal ROS publisher 11
123 Compiling ROS nodes 14
124 Running ROS nodes 15
125 Examining running minimal publisher node 16
126 Scheduling node timing 18
127 Writing a minimal ROS subscriber 20
128 Compiling and running minimal subscriber 22
129 Minimal subscriber and publisher node summary 23
1 3 MORE ROS TOOLS: CATKIN_SIMPLE/ ROSLAUNCH, RQT_C0NS0LE, AND ROSBAG 24
131 Simplifying CMakeLists txt with catkin_simple 24
132 Automating starting multiple nodes 26
133 Viewing output in a ROS console 27
134 Recording and playing back data with rosbag 28
1 4 MINIMAL SIMULATOR AND CONTROLLER EXAMPLE 30
1 5 WRAP-UP 35
Chapter 2 ■ Messages, Classes and Servers 37
2 1 DEFINING CUSTOM MESSAGES 38
VII
viii ■ Contents
211 Defining a custom message 38
212 Defining a variable-length message 42
2 2 INTRODUCTION TO ROS SERVICES 47
221 Service messages 47
222 ROS service nodes 49
223 Manual interaction with ROS services 51
224 Example ROS service client 52
225 Running example service and client 53
2 3 USING C+ + CLASSES IN ROS 54
2 4 CREATING LIBRARY MODULES IN ROS 60
2 5 INTRODUCTION TO ACTION SERVERS AND ACTION CLIENTS 64
251 Creating an action server package 65
252 Defining custom action-server messages 66
253 Designing an action client 72
254 Running the example code 75
2 6 INTRODUCTION TO PARAMETER SERVER 84
2 7 WRAP-UP 88
Section II Simulation and Visualization in ROS
Chapter 3 ■ Simulation in ROS 95
3 1 SIMPLE TWO-DIMENSIONAL ROBOT SIMULATOR 95
3 2 MODELING FOR DYNAMIC SIMULATION 103
3 3 UNIFIED ROBOT DESCRIPTION FORMAT 105
331 Kinematic model 105
332 Visual model 108
333 Dynamic model 109
334 Collision model 112
3 4 INTRODUCTION TO GAZEBO 114
3 5 MINIMAL JOINT CONTROLLER 122
3 6 USING GAZEBO PLUG-IN FOR JOINT SERVO CONTROL 127
3 7 BUILDING MOBILE-ROBOT MODEL 133
3 8 SIMULATING MOBILE-ROBOT MODEL 141
3 9 COMBINING ROBOT MODELS 145
3 10 WRAP-UP 148
Chapter 4 ■ Coordinate Transforms in ROS 153
4 1 INTRODUCTION TO COORDINATE TRANSFORMS IN ROS 153
4 2 TRANSFORM LISTENER 161
4 3 USING EIGEN LIBRARY 168
Contents ■ ix
4 4 TRANSFORMING ROS DATATYPES 173
4 5 WRAP-UP 174
Chapter 5 ■ Sensing and Visualization in ROS 1 77
5 1 MARKERS AND INTERACTIVE MARKERS IN RVIZ 181
511 Markers in rviz 182
512 Triad display example 185
513 Interactive markers in rviz 191
5 2 DISPLAYING SENSOR VALUES IN RVIZ 199
521 Simulating and displaying LIDAR 199
522 Simulating and displaying color-camera data 205
523 Simulating and displaying depth-camera data 209
524 Selection of points in rviz 214
5 3 WRAP-UP 217
Section III Perceptual Processing in ROS
Chapter 6 ■ Using Cameras in ROS 223
6 1 PROJECTIVE TRANSFORMATION INTO CAMERA COORDINATES 223
6 2 INTRINSIC CAMERA CALIBRATION 225
6 3 INTRINSIC CALIBRATION OF STEREO CAMERAS 231
6 4 USING OPENCV WITH ROS 237
641 Example OpenCV: finding colored pixels 238
642 Example OpenCV: finding edges 243
6 5 WRAP-UP 245
Chapter 7 ■ Depth Imaging and Point Clouds 247
7 1 DEPTH FROM SCANNING LIDAR 247
7 2 DEPTH FROM STEREO CAMERAS 252
7 3 DEPTH CAMERAS 258
7 4 WRAP-UP 259
Chapter 8 ■ Point Cloud Processing 261
8 1 SIMPLE POINT-CLOUD DISPLAY NODE 261
8 2 LOADING AND DISPLAYING POINT-CLOUD IMAGES FROM DISK 266
8 3 SAVING PUBLISHED POINT-CLOUD IMAGES TO DISK 269
8 4 INTERPRETING POINT-CLOUD IMAGES WITH PCL METHODS 271
8 5 OBJECT FINDER 280
8 6 WRAP-UP 284
x ■ Contents
Section IV Mobile Robots in ROS
Chapter 9 ■ Mobile-Robot Motion Control 289
9 1 DESIRED STATE GENERATION 290
911 From paths to trajectories 290
912A trajectory builder library 294
913 Open-loop control 299
914 Desired state publishing 300
9 2 ROBOT STATE ESTIMATION 308
921 Getting model state from Gazebo 308
922 Odometry 311
923 Combining odometry, GPS and inertial sensing 319
924 Combining odometry and LIDAR 325
9 3 DIFFERENTIAL-DRIVE STEERING ALGORITHMS 330
931 Robot motion model 331
932 Linear steering of a linear robot 332
933 Linear steering of a non-linear robot 332
934 Non-linear steering of a non-linear robot 333
935 Simulating non-linear steering algorithm 336
9 4 STEERING WITH RESPECT TO MAP COORDINATES 340
9 5 WRAP-UP 345
Chapter 10 ■ Mobile-Robot Navigation 347
10 1 MAP MAKING 347
10 2 PATH PLANNING 353
10 3 EXAMPLE MOVE-BASE CLIENT 358
10 4 MODIFYING NAVIGATION STACK 360
10 5 WRAP-UP 364
Section V Robot Arms in ROS
Chapter 11 ■ Low-Level Control 371
11 1 A ONE-DOF PRISMATIC-JOINT ROBOT MODEL 371
11 2 EXAMPLE POSITION CONTROLLER 372
11 3 EXAMPLE VELOCITY CONTROLLER 375
11 4 EXAMPLE FORCE CONTROLLER 377
11 5 TRAJECTORY MESSAGES FOR ROBOT ARMS 381
11 6 TRAJECTORY INTERPOLATION ACTION SERVER FOR A SEVEN-DOF
ARM 386
11 7 WRAP-UP 386
Contents ■ xi
Chapter 12 ■ Robot Arm Kinematics 389
12 1 FORWARD KINEMATICS 390
12 2 INVERSE KINEMATICS 394
12 3 WRAP-UP 399
Chapter 13 ■ Arm Motion Planning 401
13 1 CARTESIAN MOTION PLANNING 402
13 2 DYNAMIC PROGRAMMING FOR JOINT-SPACE PLANNING 403
13 3 CARTESIAN-MOTION ACTION SERVERS 408
13 4 WRAP-UP 412
Chapter 14« Arm Control with Baxter Simulator 413
14 1 RUNNING BAXTER SIMULATOR 413
14 2 BAXTER JOINTS AND TOPICS 415
14 3 BAXTER S GRIPPERS 418
14 4 HEAD PAN CONTROL 421
14 5 COMMANDING BAXTER JOINTS 422
14 6 USING ROS JOINT TRAJECTORY CONTROLLER 425
14 7 JOINT-SPACE RECORD AND PAYBACK NODES 426
14 8 BAXTER KINEMATICS 432
14 9 BAXTER CARTESIAN MOVES 434
14 10 WRAP-UP 438
Chapter 15 ■ An Object-Grabber Package 441
15 1 OBJECT-GRABBER CODE ORGANIZATION 441
15 2 OBJECT MANIPUATION QUERY SERVICE 443
15 3 GENERIC GRIPPER SERVICES 447
15 4 OBJECT-GRABBER ACTION SERVER 449
15 5 EXAMPLE OBJECT-GRABBER ACTION CLIENT 452
15 6 WRAP-UP 464
Section VI System Integration and Higher Level Control
Chapter 16 ■ Perception-Based Manipulation 469
16 1 EXTRINSIC CAMERA CALIBRATION 469
16 2 INTEGRATED PERCEPTION AND MANIPUATION 472
16 3 WRAP-UP 480
Chapter 17- Mobile Manipulation 481
17 1 MOBILE MANIPU ATOR MODEL 481
xii ■ Contents
17 2 MOBILE MANIPULATION 482
17 3 WRAP-UP 486
Chapter 18 ■ Conclusion 487
Bibliography 491
Contents List of Figures xiii Preface xix Acknowledgements xxv Author xxvii Section I ROS Foundations Chapter 1 ■ Introduction to ROS: ROStools and nodes 5 1.1 SOME ROS CONCEPTS 1.2 WRITING ROS NODES 8 1.2.1 Creating ROS packages 9 1.2.2 Writing a minimal ROS publisher 11 1.2.3 Compiling ROS nodes 14 1.2.4 Running ROS nodes 15 1.2.5 Examining running minimal publisher node 16 1.2.6 Scheduling node timing 18 1.2.7 Writing a minimal ROS subscriber 20 1.2.8 Compiling and running minimal subscriber 22 1.2.9 Minimal subscriber and publisher node summary 23 1.3 1.4 1.5 Chapter 2.1 5 MORE ROS TOOLS: CATKIN-SIMPLE, ROSLAUNCH, RQT-CONSOLE, AND ROSBAG 24 1.3.1 Simplifying CMakeLists. txt with catkin_simple 24 1.3.2 Automating starting multiple nodes 26 1.3.3 Viewing output in a ROS console 27 1.3.4 Recording and playing back data with rosbag 28 MINIMAL SIMULATOR AND CONTROLLER EXAMPLE WRAP-UP 30 35 2 ■ Messages, Classes and Servers_____________________________ 37 DEFINING CUSTOM MESSAGES 38
viii ■ Contents 2.2 2.1.1 Defining a custom message 38 2.1.2 Defining a variable-length message 42 INTRODUCTION TO ROS SERVICES 47 2.2.1 Service messages 47 2.2.2 ROS service nodes 49 2.2.3 Manual interaction with ROS services 51 2.2.4 Example ROS service client 52 2.2.5 Running example service and client 53 2.3 USING C+ + CLASSES IN ROS 54 2.4 CREATING LIBRARY MODULES IN ROS 60 2.5 INTRODUCTION TO ACTION SERVERS ANDACTION CLIENTS 64 2.5.1 Creating an action server package 65 2.5.2 Defining custom action-server messages 66 2.5.3 Designing an action client 72 2.5.4 Running the example code 75 2.6 INTRODUCTION TO PARAMETER SERVER 84 2.7 WRAP-UP 88 Section Chapter II Simulation and Visualization in ROS 3 ■ Simulation in ROS 95 3.1 SIMPLE TWO-DIMENSIONAL ROBOT SIMULATOR 3.2 MODELING FOR DYNAMIC SIMULATION 103 3.3 UNIFIED ROBOT DESCRIPTION FORMAT 105 3.3.1 Kinematic model 105 3.3.2 Visual model 108 3.3.3 Dynamic model 109 3.3.4 Collision model 112 3.4 INTRODUCTION TO GAZEBO 114 3.5 MINIMAL JOINT CONTROLLER 122 3.6 USING GAZEBO PLUG-IN FOR JOINT SERVOCONTROL 127 3.7 BUILDING MOBILE-ROBOT MODEL 133 3.8 SIMULATING MOBILE-ROBOT MODEL 141 3.9 COMBINING ROBOT MODELS 145 3.10 WRAP-UP 148 Chapter 4 ■ Coordinate Transforms in ROS 95 153 4.1 INTRODUCTION TO COORDINATE TRANSFORMS IN ROS 153 4.2 TRANSFORM LISTENER 161 4.3 USING EIGEN LIBRARY 168
Contents ■ ix 4.4 TRANSFORMING ROS DATATYPES 173 4.5 WRAP-UP 174 Chapter 5.1 5.2 5.3 Section Chapter 5 ■ Sensing and Visualization in ROS 177 MARKERS AND INTERACTIVE MARKERS IN RVIZ 181 5.1.1 Markers in rviz 182 5.1.2 Triad display example 185 5.1.3 Interactive markers in rviz 191 DISPLAYING SENSOR VALUES IN RVIZ 199 5.2.1 Simulating and displaying LIDAR 199 5.2.2 Simulating and displaying color-camera data 205 5.2.3 Simulating and displaying depth-camera data 209 5.2.4 Selection of points in rviz WRAP-UP 214 217 III Perceptual Processing in ROS 6 ■ Using Cameras in ROS 223 6.1 PROJECTIVE TRANSFORMATION INTO CAMERACOORDINATES 6.2 INTRINSIC CAMERA CALIBRATION 225 6.3 INTRINSIC CALIBRATION OF STEREO CAMERAS 231 6.4 USING OPENCV WITH ROS 237 6.4.1 Example OpenCV: finding colored pixels 238 6.4.2 Example OpenCV: finding edges 243 6.5 Chapter WRAP-UP 7 ■ Depth Imaging and Point Clouds 223 245 247 7.1 DEPTH FROM SCANNING LIDAR 247 7.2 DEPTH FROM STEREO CAMERAS 252 7.3 DEPTH CAMERAS 258 7.4 WRAP-UP 259 Chapter 8 ■ Point Cloud Processing 261 8.1 SIMPLE POINT-CLOUD DISPLAY NODE 261 8.2 LOADING AND DISPLAYING POINT-CLOUD IMAGES FROM DISK 266 8.3 SAVING PUBLISHED POINT-CLOUD IMAGES TO DISK 269 8.4 INTERPRETING POINT-CLOUD IMAGES WITH PCL METHODS 271 8.5 OBJECT FINDER 280 8.6 WRAP-UP 284
x ■ Contents Section Chapter 9.1 9.2 9.3 IV Mobile Robots in ROS 9 ■ Mobile-Robot Motion Control 289 DESIRED STATE GENERATION 290 9.1.1 From paths to trajectories 290 9.1.2 A trajectory builder library 294 9.1.3 Open-loop control 299 9.1.4 Desired state publishing 300 ROBOT STATE ESTIMATION 308 9.2.1 Getting model state from Gazebo 308 9.2.2 Odometry 311 9.2.3 Combining odometry, GPS and inertial sensing 319 9.2.4 Combining odometry and LIDAR 325 DIFFERENTIAL-DRIVE STEERING ALGORITHMS 330 9.3.1 Robot motion model 331 9.3.2 Linear steering of a linear robot 332 9.3.3 Linear steering of a non-linear robot 332 9.3.4 Non-linear steering of a non-linear robot 333 9.3.5 Simulating non-linear steering algorithm 336 9.4 STEERING WITH RESPECT TO MAP COORDINATES 340 9.5 WRAP-UP 345 Chapter 10 ■ Mobile-Robot Navigation 347 10.1 MAP MAKING 347 10.2 PATH PLANNING 353 10.3 EXAMPLE MOVE-BASE CLIENT 358 10.4 MODIFYING NAVIGATION STACK 360 10.5 WRAP-UP 364 Section V Robot Arms in ROS Chapter 11 ■ Low-Level Control 371 11.1 A ONE-DOF PRISMATIC-JOINT ROBOT MODEL 371 11.2 EXAMPLE POSITION CONTROLLER 372 11.3 EXAMPLE VELOCITY CONTROLLER 375 11.4 EXAMPLE FORCE CONTROLLER 377 11.5 TRAJECTORY MESSAGES FOR ROBOT ARMS 381 11.6 11.7 TRAJECTORY INTERPOLATION ACTION SERVER FOR A SEVEN-DOF ARM 386 WRAP-UP 386
Contents ■ xi Chapter 12 ■ Robot Arm Kinematics 389 12.1 FORWARD KINEMATICS 390 12.2 INVERSE KINEMATICS 394 12.3 WRAP-UP 399 Chapter 13 * Arm Motion Planning 401 13.1 CARTESIAN MOTION PLANNING 402 13.2 DYNAMIC PROGRAMMING FOR JOINT-SPACE PLANNING 403 13.3 CARTESIAN-MOTION ACTION SERVERS 408 13.4 WRAP-UP 412 Chapter 14· Arm Control with Baxter Simulator 413 14.1 RUNNING BAXTER SIMULATOR 413 14.2 BAXTER JOINTS AND TOPICS 415 14.3 BAXTER S GRIPPERS 418 14.4 HEAD PAN CONTROL 421 14.5 COMMANDING BAXTER JOINTS 422 14.6 USING ROS JOINT TRAJECTORY CONTROLLER 425 14.7 JOINT-SPACE RECORD AND PLAYBACK NODES 426 14.8 BAXTER KINEMATICS 432 14.9 BAXTER CARTESIAN MOVES 434 14.10 WRAP-UP Chapter 15 ■ An Object-Grabber Package 438 441 15.1 OBJECT-GRABBER CODE ORGANIZATION 441 15.2 OBJECT MANIPULATION QUERY SERVICE 443 15.3 GENERIC GRIPPER SERVICES 447 15.4 OBJECT-GRABBER ACTION SERVER 449 15.5 EXAMPLE OBJECT-GRABBER ACTION CLIENT 452 15.6 WRAP-UP 464 Section Chapter 16.1 VI System Integration and Higher Level Control 16 ■ Perception-Based Manipulation 469 EXTRINSIC CAMERA CALIBRATION 469 16.2 INTEGRATED PERCEPTION AND MANIPULATION 472 16.3 WRAP-UP 480 Chapter 17.1 17· Mobile Manipulation MOBILE MANIPULATOR MODEL 481 481
xii ■ Contents 17.2 MOBILE MANIPULATION 482 17.3 WRAP-UP 486 Chapter 18· Conclusion____________________________________________ 487 Bibliography 491 Index 495
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| illustrated | Illustrated |
| indexdate | 2024-07-10T07:55:32Z |
| institution | BVB |
| isbn | 9781498777827 |
| language | English |
| lccn | 017013872 |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-029945283 |
| oclc_num | 1011380662 |
| open_access_boolean | |
| owner | DE-523 DE-11 DE-M347 DE-573 DE-Aug4 DE-739 |
| owner_facet | DE-523 DE-11 DE-M347 DE-573 DE-Aug4 DE-739 |
| physical | xxiii, 502 Seiten Illustrationen, Diagramme |
| publishDate | 2018 |
| publishDateSearch | 2018 |
| publishDateSort | 2018 |
| publisher | CRC Press |
| record_format | marc |
| spelling | Newman, Wyatt S. (DE-588)115544311X aut A systematic approach to learning robot programming with ROS Wyatt S. Newman Boca Raton, London, New York CRC Press [2018] © 2018 xxiii, 502 Seiten Illustrationen, Diagramme txt rdacontent n rdamedia nc rdacarrier Robots Programming Robots Control systems Operating systems (Computers) Roboter (DE-588)4050208-9 gnd rswk-swf Programmierung (DE-588)4076370-5 gnd rswk-swf Robot Operating System (DE-588)1135309531 gnd rswk-swf (DE-588)4123623-3 Lehrbuch gnd-content Roboter (DE-588)4050208-9 s Programmierung (DE-588)4076370-5 s DE-604 Robot Operating System (DE-588)1135309531 s HEBIS Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029945283&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis Digitalisierung UB Passau - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029945283&sequence=000003&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Newman, Wyatt S. A systematic approach to learning robot programming with ROS Robots Programming Robots Control systems Operating systems (Computers) Roboter (DE-588)4050208-9 gnd Programmierung (DE-588)4076370-5 gnd Robot Operating System (DE-588)1135309531 gnd |
| subject_GND | (DE-588)4050208-9 (DE-588)4076370-5 (DE-588)1135309531 (DE-588)4123623-3 |
| title | A systematic approach to learning robot programming with ROS |
| title_auth | A systematic approach to learning robot programming with ROS |
| title_exact_search | A systematic approach to learning robot programming with ROS |
| title_full | A systematic approach to learning robot programming with ROS Wyatt S. Newman |
| title_fullStr | A systematic approach to learning robot programming with ROS Wyatt S. Newman |
| title_full_unstemmed | A systematic approach to learning robot programming with ROS Wyatt S. Newman |
| title_short | A systematic approach to learning robot programming with ROS |
| title_sort | a systematic approach to learning robot programming with ros |
| topic | Robots Programming Robots Control systems Operating systems (Computers) Roboter (DE-588)4050208-9 gnd Programmierung (DE-588)4076370-5 gnd Robot Operating System (DE-588)1135309531 gnd |
| topic_facet | Robots Programming Robots Control systems Operating systems (Computers) Roboter Programmierung Robot Operating System Lehrbuch |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029945283&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029945283&sequence=000003&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT newmanwyatts asystematicapproachtolearningrobotprogrammingwithros |
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