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A Handbook Written by TurtleBot3 Developers
Robot Programming
YoonSeok Pyo I HanCheol Cho I RyuWoon Jung I TaeHoon Lim
From the basic concept to practical programming and robot application
Robot Programming
YoonSeok Pyo
HanCheol Cho
RyuWoon Jung
TaeHoon Lim
From the basic concept to practical robot
application programming
• ROS Kinetic Kame : Basic concept, instructions and tools
• How to use sensor and actuator packages on ROS
• Embedded board for ROS : OpenCR1.0
• SLAM & navigation with TurtleBot3
• How to program a delivery robot using ROS Java
• OpenManipulator simulator using MoveIt! and Gazebo
This Handbook is written for
college students and graduate students who want to
learn robot programming based on ROS (Robot Operating
system) and also for professional researchers and
engineers who work on robot development or software
programming.
We have tried to offer detailed information we learned
while working on TurtleBot3 and OpenManipulator.
We hope this book will be the complete handbook for
beginners in ROS and more people will contribute to the
ever-growing community of open robotics.
ROBOTIS CO., LTD.
http://www.robotis.com
http://www.turtlebot.com
http://turtlebot3.robotis.com
ROS Robot Programming
YoonSeok Pyo
The lead author, YoonSeok Pyo, is a researcher at ROBOTIS and is the
manager in charge of the Open Source Team. He is researching and developing
an intelligent system for open source based service robot platform. His work
revolves around the question “what are robots to us?” and strives to bring
robots closer to our daily lives. After graduating from Kwang Woon University
in Korea with a degree in Electrical Engineering, he worked at the Korea
Institute of Science and Technology (KIST). He was a research fellow of the
Japan Society for the Promotion of Science (JSPS) from 2014 to 2016 in
Japan. He received his Ph.D. and M.E. degrees in Information Science and
Electrical Engineering from Kyushu University, Japan. He enjoys talking to
people who have a dream in the field of robotics. He is always looking for new
adventures and hopes to meet readers of this book through lectures, seminars,
tutorials, and exhibitions related to robots and ROS.
HanCheol Cho
HanCheol is in charge of the firmware and robot controller development at
ROBOTIS. He was previously an ATM firmware developer at LG CNS and is
interested in programming and robots. His interest in robots started when he
first saw the micro mouse robot contest in middle school and has since enjoyed
studying and sharing information on robotics technology. In particular, he is
interested in the firmware that controls the robot hardware as well as FPGA,
and is working with projects in this field. He believes that technology is most
improved when shared, and dreams of still soldering and programming in the
twilight years of his life.
RyuWoon Jung
Leon (RyuWoon) Jung is a researcher at ROBOTIS developing autonomous
driving systems and actuator applications. He believes that the value of robots
lies in filling in the gaps in the areas where humans fail to complement each
other and strives to reflect this in the research and development of robots.
Leon received his bachelor's and master's degrees from the Department of
Electrical Engineering and Bioscience at Waseda University. He has written for
the ROBOCON MAGAZINE and is in charge of AutoRace, a large-scale
autonomous driving robot competition. He is currently involved in the research
and development of autonomous driving robots in the Open Source Robotics
Technology Sharing Community (www.oroca.org).
TaeHoon Lim
Darby (TaeHoon) Lim is a ROBOTIS researcher in the Open Source Team who
is responsible for the development of the TurtleBot3 and OpenManipulator, as
well as acting as the keeper of good-looks in the office. Darby believes that
creativity comes from diverse experiences and a broad range of knowledge,
and therefore enjoys traveling, reading and speaking with people with diverse
backgrounds. Darby aims to develop robots that can convey a different
experience and leave an impression to many people, using collaboration with
people in fields such as movies, exhibitions, and media to achieve this. He is
hosting the “LookSo in Film” open project in OROCA since 2016 as a bummer
scriptwriter and software engineer.
ROS Official Robot Platform
Series
ISBN 978-11-962307-1-5
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First Edition
Published by
Address
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ISBN
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iv
Robotics Engineering has great expectations laid upon it as an up-and-
coming industry and the next-generation growth power, even though it
currently has no clear business models except for industrial robots. The
problem is that it has been this way for over ten years, and there is still no
clear change since then. Why is this? Although there may be many
explanations, it stands that there are still many limitations on applying
robotics engineering to a business model. Commercialization still remains a
great task for this eld. In order to solve this, there must be cooperation on a
global scale. This can be achieved through software platforms supported by
active communities. In the case of ROS, Robot Operating System, there are
academic researchers, industry personnel, and hobbyists all participating in
the development process. Furthermore, the people involved range from
robotics majors to network experts, computer scientists, and computer vision
specialists, bringing together a wide range of expertise not only in the robotics
industry but through cross-disciplinary elds. I expect robotics engineering to
develop towards a dierent path than the one it has been taking, solving
problems that were out of reach until now through cooperation and exchange
of resources. The time has come that robotics engineering is not a mere
industry of tomorrow, but an industry of today.
This book is a ROS robot programming guide based on the experiences we had
accumulated from ROS projects. We tried to make this a comprehensive guide
that covers all aspects necessary for a beginner in ROS. Topics such as
embedded system, mobile robots, and robot arms programmed with ROS are
included. For those who are new to ROS, there are footnotes throughout the
book providing more information on the web. Through this book, I hope that
more people will be aware of and participate in bringing forward the ever-
accelerating collective knowledge of Robotics Engineering.
Lastly, I would like to thank everybody who helped in publishing this book. I
am also grateful to Morgan, Brian, Tully and all ROS development team,
maintainers and contributors. A sincere gratitude to the ROS experts Jihoon
Lee, Byeongkyu Ahn, Keunman Jung, Changhyun Sung, Seongyong Koo, who
always shine new knowledge on me. I look forward to continue doing more
great things with you all. A special thanks to Changhoon Han, Inho Lee, Will
Son, Jason and Kayla Kim who was pivotal in helping the book be easy to
understand to non-experts. Thanks to the entire ROBOTIS team. This book is
here thanks to the great team, who started this endeavor with the question of
“What is a robot?” I would like to thank members of Open Source Team(OST),
which strives to help more people ponder upon and develop robots. I also
thanks to Jinwook Kim, he is a pillar in the open source ecosystem and
community. Much thanks to the ROS Avengers Hancheol Cho, Ryuwoon Jung,
Preface
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v
and Taehoon Lim, who are all co-authors of this book. A special thanks to my
academic advisor from Kyushu University, Professor Ryo Kurazume and
Professor Tsutomu Hasegawa. You have allowed me to walk the path of a
researcher, and I continue to learn much from you. Thank you for the never-
ending teachings. I would also like to thank Hyungil Park and the entire
administrative team of OROCA who gave me endless support in making this
book. Thank you to all the members from OROCA and to the sta of the
OROCA Open Projects, who is so passionate of the open robotics platform
development. I look forward to more discussions and projects on many topics
regarding robotics. Thanks to the administrators of the Facebook group, the
Korea Open Society for Robotics, and to all my fellow colleagues who deeply
care for and ponder on the robotics. Thanks to the robot game team, RO:BIT,
with whom I have shared my youth. Thanks to the robot research club, ROLAB.
I would also like to thank the CEO, Bill(Byoungsoo) Kim, and CTO, Inyong Ha,
of ROBOTIS whose support my all activity so that I can write this book.
Last but not least, I would like to thank my loving family. To my parents: I love,
admire, and always thank you. I would like to extend my love and gratitude to
my parents-in-law, who always support me by my side. To my loving wife
Keunmi Park, who always takes care of me: I love you, always thank you, and
wish to live in much happiness with you! To my son, Jian, and daughter, Jiwoo,
who I cherish most in this world: I will always try to be a father that makes this
world brighter and happier!
July 2017,
Yoon Seok Pyo
Preface
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