The ROS Cookbook (Paperback). Este artículo no está disponible.The ROS Cookbook (Paperback)

Paperback. As the title hints, this book provides practical recipes of building robot arms from scratch. It covers all the aspects involved in a whole robotic system and shows how to build your own robot arm(s) in the ROS environment.Unlike regular textbooks, this book emphasizes robot system development with a real robot platform (hex7bot) closely, and the most examples or code are directly from that project. The chapters in this book are also arranged as a staged development of the project: from general system-level design or modeling to detailed software/hardware model designs, from single arm to dual-arm, from classic control to advanced topics (i.e., deep learning).Throughout this book, you will learn the following: - Chapter 2: Get started: Let get your first robot arm set up and run with sample launch files.- Chapter 3: Set up your workspace: Get familiar with the robot programming environment and the ROS framework for the robot arm. Meanwhile, set up your robot software development environment.- Chapter 4: Review robotics concepts and robot models in the ROS environment. Some essential concepts, such as robot frames, DH parameters to characterize robot arm kinematics, and `URDF` (Unified Robot Description Format)\index{URDF}- Chapter 5: Robot Kinematics. Introduction of 6-DOF robot arm forward kinematics and inverse kinematics.- Chapter 6: Software Architecture: Take the software architecture developed on `Hex7Bot as an example, and illustrate how software modules are organized and how to design an open architecture software framework under the ROS environment.- Chapter 7: Teleop: Learn how to control the robot arm over joysticks, keyboard, as well as remote controlling robot arms by cost-effective portable devices over a Web App.- Chapter 8: Robot Controller: This chapter dissects `ros_control` architecture and explores how it works and is designed.- Chapter 9: Hardware Communication: It mainly focuses on how to modularize internal robot hardware components and standardize HMI interface by IPC - the ROS messages extension.- Chapter 10: Visualization and Simulation. Learn how to visualize, simulate, debug your robot arm within Rviz, Gazebo and MoveIt.- Chapter 11: Build Dual Arms: With one robot arm system (hardware and software framework) complete, we continue exploring building dual arms for dual-arm coordination tasks.- Chapter 12: Dual-arm perception with the depth camera. This chapter discusses the integration of a 3D depth camera, i.e., the Realsense D435 camera into a dual-arm system.- Chapter 13: Robot tracking under vision guidance: Develop an application to control the left/right arm to grasp an object based on 3D camera localization.- Chapter 14: Deep Learning: Explore and track the latest AI technologies and seek some solutions with popular deep learning models.- Chapter 15: Tips and Tricks: Shares some tips on debugging and troubleshooting, common pitfalls, as well as useful utility tools and methods during robot system & software development. The comprehensive book for building an intelligent robot arm yourself; programming robot arm with C++ in ROS. the book emphasizes real robot system development, and a large amount of code snippets come directly from the real robot arm project. This item is printed on demand. Shipping may be from multiple locations in the US or from the UK, depending on stock availability.…