Preface...vii. Printed vs PDF Versions of the Book...ix. 1. Scope of this Volume Installing the ros-by-example Code...3

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1 Contents Preface...vii Printed vs PDF Versions of the Book...ix 1. Scope of this Volume Installing the ros-by-example Code Task Execution using ROS A Fake Battery Simulator A Common Setup for Running the Examples A Brief Review of ROS Actions A Patrol Bot Example The Patrol Bot using a Standard Script Problems with the Script Approach SMACH or Behavior Trees? SMACH: Tasks as State Machines SMACH review Patrolling a square using SMACH Testing SMACH navigation in the ArbotiX simulator Accessing results from a SimpleActionState SMACH Iterators Executing commands on each transition Interacting with ROS topics and services Callbacks and Introspection Concurrent tasks: Adding the battery check to the patrol routine Comments on the battery checking Patrol Bot Passing user data between states and state machines Subtasks and hierarchical state machines Adding the battery check to the house cleaning robot Drawbacks of state machines Behavior Trees Behavior Trees versus Hierarchical State Machines Key properties of behavior trees Building a behavior tree Selectors and sequences Customizing behaviors using decorators (meta-behaviors) Programming with Behavior Trees and ROS Installing the pi_trees library Basic components of the pi_trees library ROS-specific behavior tree classes A Patrol Bot example using behavior trees A housing cleaning robot using behavior trees Parallel tasks Adding and removing tasks...87

2 4. Creating a URDF Model for your Robot Start with the Base and Wheels The robot_state_publisher and joint_state_publisher nodes The base URDF/Xacro file Alternatives to using the /base_footprint frame Adding the base to the robot model Viewing the robot's transform tree Using a mesh for the base Simplifying Your Meshes Adding a Torso Modeling the torso Attaching the torso to the base Using a mesh for the torso Adding the mesh torso to the mesh base Measure, Calculate and Tweak Adding a Camera Placement of the camera Modeling the camera Adding the camera to the torso and base Viewing the transform tree with torso and camera Using a mesh for the camera Using an Asus Xtion Pro instead of a Kinect Adding a Laser Scanner (or other Sensors) Modeling the laser scanner Attaching a laser scanner (or other sensor) to a mesh base Configuring the laser node launch file Adding a Pan and Tilt Head Using an Asus Xtion Pro instead of a Kinect Modeling the pan-and-tilt head Figuring out rotation axes A pan and tilt head using meshes on Pi Robot Using an Asus Xtion Pro mesh instead of a Kinect on Pi Robot Adding One or Two Arms Placement of the arm(s) Modeling the arm Adding a gripper frame for planning Adding a second arm Using meshes for the arm servos and brackets Adding a Telescoping Torso to the Box Robot Adding a Telescoping Torso to Pi Robot A Tabletop One-Arm Pi Robot Testing your Model with the ArbotiX Simulator A fake Box Robot A fake Pi Robot Creating your own Robot Description Package Using rosbuild Using catkin Copying files from the rbx2_description package Creating a test launch file...147

3 5. Controlling Dynamixel Servos: Take Installing the ArbotiX Packages Launching the ArbotiX Nodes The ArbotiX Configuration File Testing the ArbotiX Joint Controllers in Fake Mode Testing the Arbotix Joint Controllers with Real Servos Relaxing All Servos Enabling or Disabling All Servos Robot Diagnostics The DiagnosticStatus Message The Analyzer Configuration File Monitoring Dynamixel Servo Temperatures Monitoring the servos for a pan-and-tilt head Viewing messages on the /diagnostics topic Protecting servos by monitoring the /diagnostics topic Monitoring a Laptop Battery Creating your Own Diagnostics Messages Monitoring Other Hardware States Dynamic Reconfigure Adding Dynamic Parameters to your own Nodes Creating the.cfg file Making the.cfg file executable Configuring the CMakeLists.txt file Building the package Adding Dynamic Reconfigure Capability to the Battery Simulator Node Adding Dynamic Reconfigure Client Support to a ROS Node Dynamic Reconfigure from the Command Line Multiplexing Topics with mux & yocs Configuring Launch Files to Use mux Topics Testing mux with the Fake TurtleBot Switching Inputs using mux Services A ROS Node to Prioritize mux Inputs The YOCS Controller from Yujin Robot Adding input sources Head Tracking in 3D Tracking a Fictional 3D Target Tracking a Point on the Robot The 3D Head Tracking Node Real or fake head tracking Projecting the target onto the camera plane Head Tracking with Real Servos Real servos and fake target...225

4 9.4.2 Real servos, real target The nearest_cloud.py node and launch file Detecting and Tracking AR Tags Installing and Testing the ar_track_alvar Package Creating your own AR Tags Generating and printing the AR tags Launching the camera driver and ar_track_alvar node Testing marker detection Understanding the /ar_pose_marker topic Viewing the markers in RViz Accessing AR Tag Poses in your Programs The ar_tags_cog.py script Tracking the tags with a pan-and-tilt head Tracking Multiple Tags using Marker Bundles Following an AR Tag with a Mobile Robot Running the AR follower script on a TurtleBot Exercise: Localization using AR Tags Arm Navigation using MoveIt! Do I Need a Real Robot with a Real Arm? Degrees of Freedom Joint Types Joint Trajectories and the Joint Trajectory Action Controller Forward and Inverse Arm Kinematics Numerical versus Analytic Inverse Kinematics The MoveIt! Architecture Installing MoveIt! Creating a Static URDF Model for your Robot Running the MoveIt! Setup Assistant Load the robot's URDF model Generate the collision matrix Add the base_odom virtual joint Adding the right arm planning group Adding the right gripper planning group Defining robot poses Defining end effectors Defining passive joints Generating the configuration files Configuration Files Created by the MoveIt! Setup Assistant The SRDF file (robot_name.srdf) The fake_controllers.yaml file The joint_limits.yaml file The kinematics.yaml file The move_group Node and Launch File Testing MoveIt! in Demo Mode Exploring additional features of the Motion Planning plugin Re-running the Setup Assistant at a later time...285

5 11.14 Testing MoveIt! from the Command Line Determining Joint Configurations and End Effector Poses Using the ArbotiX Joint Trajectory Action Controllers Testing the ArbotiX joint trajectory action controllers in simulation Testing the ArbotiX joint trajectory controllers with real servos Configuring MoveIt! Joint Controllers Creating the controllers.yaml file Creating the controller manager launch file The MoveIt! API Forward Kinematics: Planning in Joint Space Inverse Kinematics: Planning in Cartesian Space Pointing at or Reaching for a Visual Target Setting Constraints on Planned Trajectories Executing Cartesian Paths Setting other path constraints Adjusting Trajectory Speed Adding Obstacles to the Planning Scene Attaching Objects and Tools to the Robot Pick and Place Adding a Sensor Controller Running MoveIt! on a Real Arm Creating your own launch files and scripts Running the robot's launch files Forward kinematics on a real arm Inverse kinematics on a real arm Cartesian paths on a real arm Pick-and-place on a real arm Pointing at or reaching for a visual target Creating a Custom Fast IK Plugin Gazebo: Simulating Worlds and Robots Installing Gazebo Hardware Graphics Acceleration Installing the ROS Gazebo Packages Installing the Kobuki ROS Packages Installing the UBR-1 Files Using the Gazebo GUI Missing Model Bug in Gazebo Testing the Kobuki Robot in Gazebo Accessing simulated sensor data Adding safety control to the Kobuki Running the nav_square.py script from Volume Loading Other Worlds and Objects Testing the UBR-1 Robot in Gazebo UBR-1 joint trajectories The UBR-1 and MoveIt! Real Pick-and-Place using the UBR-1 Perception Pipeline Limitations of depth cameras...398

6 Running the demo Understanding the real_pick_and_place.py script Running Gazebo Headless + RViz Rosbridge: Building a Web GUI for your Robot Installing the rosbridge Packages Installing the mjpeg_sever Package Installing a Simple Web Server (mini-httpd) Starting mini-httpd, rosbridge and mjpeg_server A Simple rosbridge HTML/Javascript GUI Testing the GUI with a Fake TurtleBot Testing the GUI with a Real Robot Viewing the Web GUI on another Device on your Network Using the Browser Debug Console Understanding the Simple GUI The HTML layout: simple_gui.html The JavaScript code: simple_gui.js A More Advanced GUI using jquery, jqwidgets and KineticJS Rosbridge Summary Appendix: Plug and Play USB Devices for ROS: Creating udev Rules Adding yourself to the dialout Group Determining the Serial Number of a Device UDEV Rules Testing a UDEV Rule Using a UDEV Device Name in a ROS Configuration File...448