使用ROS构建机器人应用实战

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"ROS Robotics by Example" 本书"ROS Robotics by Example"是关于如何使用ROS（Robot Operating System，机器人操作系统）开发机器人应用的实践指南。作者Carol Fairchild和Dr. Thomas L. Harman通过实例向读者展示了如何赋予机器人生命，使它们能够执行复杂的任务。 ROS是一个开源的软件框架，专为机器人系统设计，它提供了各种工具、库和协议，用于构建、编写和运行机器人应用程序。ROS的主要目标是简化机器人软件开发的复杂性，促进不同硬件平台之间的代码重用和协作。在"ROS Robotics by Example"中，读者可以期待学习以下关键知识点： 1. **ROS基础**：了解ROS的核心概念，包括节点（Nodes）、消息（Messages）、服务（Services）、参数服务器（Parameter Server）以及图（Graph）的架构。理解这些概念对于构建ROS系统至关重要。 2. **环境设置**：如何安装和配置ROS开发环境，包括Ubuntu操作系统的选择与安装，以及ROS的版本选择和安装过程。 3. **ROS工作空间与构建系统**：学习创建和管理ROS工作空间，以及使用catkin工具链来编译和构建ROS项目。 4. **传感器和Actuators**：通过实际示例学习如何处理来自各种传感器（如激光雷达、摄像头、IMU等）的数据，并控制执行器（如电机、伺服等），实现机器人的感知和运动控制。 5. **导航和定位**：理解ROS中的导航栈（Navigation Stack），包括全球路径规划（Global Planner）、局部路径规划（Local Planner）和实时定位（SLAM）。学习如何配置和使用这些工具，使机器人能在环境中自主导航。 6. **映射与SLAM**：探索Simultaneous Localization and Mapping（SLAM）技术，它是机器人自主定位和构建环境地图的关键。了解Gmapping、Hector SLAM等流行的ROS映射算法。 7. **人机交互**：学习如何利用ROS的交互工具，如rviz可视化界面和teleop套件，实现对机器人的远程操作和监控。 8. **编程接口**：掌握C++和Python这两种主要的ROS编程语言，了解如何编写ROS节点和发布/订阅消息。 9. **仿真**：利用Gazebo仿真器进行机器人系统的测试和调试，减少硬件实验的需求和成本。 10. **案例研究**：书中包含的实例将帮助读者深入理解ROS在现实世界机器人应用中的应用，如无人机控制、服务机器人任务执行等。本书适合已经有一定编程基础的读者，尤其是对机器人和嵌入式系统感兴趣的工程师、研究人员和学生。通过本书的学习，读者不仅可以掌握ROS的基本操作，还能获得实际开发经验，从而有能力解决更复杂的机器人工程问题。

Table of Contents

[ ix ]

Flying Crazyie 371

Hovering in place 371

What makes hover work? 372

Flying to a stationary target 374

What makes target detection work? 375

Learned lessons 376

Logging messages with rosout and rospy 377

Summary 378

Chapter 10: Extending Your ROS Abilities 379

Controlling a robot with your voice 379

Sphinx 380

rospeex 382

Enabling a robot to speak 383

Enabling a robot to recognize faces 384

Face detection with a cascade classier 384

Using ROS package face_detector 386

Face recognition with OpenCV 387

Using ROS package cob_people_detection 387

Using ROS package face_recognition 388

Summary 389

Index 391

Preface

[ xii ]

In the pages that follow, each of these areas will be incrementally introduced to

you as part of the robot examples. With TurtleBot, the subjects of navigation and

mapping are explored. Using Baxter, joint control and path planning are described

for your understanding. Simple Python scripts are included to provide examples of

implementing ROS elements for many of these robots. These robots are all available

in simulation to accomplish the exercises in this book. Furthermore, instructions are

provided for you to build and control your own robot models in simulation.

The power of ROS, the variety of robots using ROS, and the diversity and support of

the widespread ROS community make this adventure worthwhile. Extensive online

tutorials, wiki instructions, forums, tips, and tricks are available for ROS. So dive into

the pages of this book to begin your adventure with ROS robotics!

What this book covers

Chapter 1, Getting Started with ROS, explains the advantages of learning ROS and

highlights the spectrum of robots currently using ROS. Instructions to install and

launch ROS on a computer running a Ubuntu operating system are provided. An

overview of the ROS architecture is given and its components are described. The

Turtlesim simulation is introduced and used to provide a deeper understanding of

how the components of ROS work and ROS commands.

Chapter 2, Creating Your First Two-Wheeled ROS Robot (in Simulation), introduces you

to the ROS simulation environment of Gazebo. We will lead you through the steps to

create your rst robot simulation (a two-wheeled differential-drive base) and teach

the structure of the Universal Robotic Description Format. The use of the ROS tools,

rviz and Gazebo, are detailed to enable you to display your robot and interact

with it.

Chapter 3, Driving Around with TurtleBot, introduces you to a real ROS robot,

TurtleBot. This mobile base robot can be used in the simulation environment of

Gazebo if you do not own one. ROS commands and Python scripts are used to

control the TurtleBot through a variety of methods. The ROS tool, rqt, is introduced

and subsets of its plugins are used to control TurtleBot and monitor its sensor data.

Chapter 4, Navigating the World with TurtleBot, explores visual sensors and the ability

for a robot to map its environment. The 3D sensor options for TurtleBot's vision

system are described and their setup and operation using ROS enables TurtleBot to

navigate autonomously. The knowledge of Simultaneous Localization and Mapping

techniques is applied in combination with TurtleBot's navigation stack to move

about in the mapped environment.

Preface

[ xiii ]

Chapter 5, Creating Your First Robot Arm (in Simulation), provides a gentle introduction

to the complexity of robotic arms. A simulated robot arm is designed and built using

the macro language of Xacro. Controllers for the arm are created to operate the

arm in Gazebo. Through developing the controllers for this arm, an insight into the

mechanics and physics of a simple robot arm is offered.

Chapter 6, Wobbling Robot Arms Using Joint Control, takes a deeper look at the

intricacies of controlling robotic arms. Our second ROS robot, the "state-of-the-art"

Baxter robot, is introduced. Baxter has two 7 degree-of-freedom arms and a number

of other sensors. Baxter Simulator is available as open source software to use for the

instructions in this chapter. Examples are provided for the control of Baxter's arms

using position, velocity, and torque modes with control for both forward and inverse

kinematics. The ROS tool, MoveIt, is introduced for motion planning in simulation

and execution on either a real or simulated Baxter.

Chapter 7, Making a Robot Fly, describes a small but growing area of ROS robotics—

unmanned air vehicles. This chapter focuses on quadrotors, and an understanding

of quadrotor hardware and ight control is provided. Instructions to download

and control the simulated quadrotor Hector are supplied. With skills from ying a

simulated quadrotor, you can move on to control a real Bitcraze Crazyie or Parrot

Bebop. Quadrotor control is via teleoperation or ROS topic/message commands.

Chapter 8, Controlling Your Robots with External Devices, presents a number of

peripheral devices you can use to control a ROS robot. Joystick controllers, controller

boards (Arduino and Raspberry Pi), and mobile devices all have ROS interfaces that

can be integrated with your robot to provide external control.

Chapter 9, Flying a Mission with Crazyie, incorporates many of the ROS components

and concepts presented in this book into a challenging mission of autonomous ight.

The mission involves the Crazyie quadrotor ying to a "remote" target all mapped

through a Kinect 3D sensor. This mission uses ROS message communication and

co-ordinate transforms to employ the Kinect's view of the quadrotor and target to

orchestrate the ight. Flight control software for the Crazyie using PID control is

described and provided as part of the mission software.

Chapter 10, Extending Your ROS Abilities, provides a few last ROS capabilities to

stimulate the further learning of advanced ROS robotic applications. The ability to

control a robot with voice commands, the ability for a robot to detect and recognize

faces as well as the ability for a robot to speak are all presented.

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