Mastering ROS for Robotics Programming - Third Edition

Develop, simulate, and deploy intelligent robotic systems using ROS with hands-on guidance for 3D modeling, hardware integration, and motion planning

Key Features:

- Implement complex simulations using Gazebo, Webots, and CoppeliaSim alongside MoveIt! for motion planning

- Integrate sensors, vision modules, and I/O boards for real-world robot control

- Bridge ROS with MATLAB, Simulink, and industrial robots for advanced deployments

Book Description:

The Robot Operating System (ROS) is a software framework used for programming complex robots. ROS enables you to develop software for building complex robots without writing code from scratch, saving valuable development time. Mastering ROS for Robotics Programming provides complete coverage of the advanced concepts using easy-to-understand, practical examples and step-by-step explanations of essential concepts that you can apply to your ROS robotics projects.

The book begins by helping you get to grips with the basic concepts necessary for programming robots with ROS. You'll then discover how to develop a robot simulation, as well as an actual robot, and understand how to apply high-level capabilities such as navigation and manipulation from scratch. As you advance, you'll learn how to create ROS controllers and plugins and explore ROS's industrial applications and how it interacts with aerial robots. Finally, you'll discover best practices and methods for working with ROS efficiently.

By the end of this ROS book, you'll have learned how to create various applications in ROS and build your first ROS robot.

What You Will Learn:

- Create a robot model with a 7-DOF robotic arm and a differential wheeled mobile robot

- Work with Gazebo, CoppeliaSim, and Webots robotic simulators

- Implement autonomous navigation in differential drive robots using SLAM and AMCL packages

- Interact with and simulate aerial robots using ROS

- Explore ROS pluginlib, ROS nodelets, and Gazebo plugins

- Interface I/O boards such as Arduino, robot sensors, and high-end actuators

- Simulate and perform motion planning for an ABB robot and a universal arm using ROS-Industrial

- Work with the motion planning features of a 7-DOF arm using MoveIt

Who this book is for:

This book is ideal for robotics engineers, researchers, or software developers familiar with Linux and C++ who want to deepen their ROS expertise. It's especially valuable for those building real-world robot applications using simulation tools, MoveIt!, and sensor integration. A working knowledge of basic ROS concepts is expected.

Table of Contents

- Introduction to ROS

- Getting started with ROS Programming

- Working with ROS for 3D modelling

- Simulating Robots Using ROS and Gazebo

- Simulating Robots using ROS and Coppeliasim and Webot

- Using the ROS MoveIt! and Navigation Stack On

- Exploring the Advanced Capabilities of ROS-MoveIt!

- ROS for Aerial Robots

- Interfacing I/O boards Sensors and Actuators to ROS

- Programming Vision Sensors Using ROS, OpenCV, and PCL

- Building and Interfacing Differential Drive Mobile robot Hardware in ROS

- Working with pluginlib Nodelet, and Gazebo Plugins

- Writing ROS Controllers and Visualization Plugins

- Using ROS in Matlab and Simulink

- ROS for Industrial Robots

- Troubleshooting and Best Practices