This book is the seventh volume of the successful book series on Robot Operating System: The Complete Reference, which started in 2016.
The book's objective is to provide the reader with comprehensive coverage on the Robot Operating Systems (ROS) and the latest trends and contributed systems. ROS has been considered as the primary development framework for robotics applications.
There are seven chapters organized into three parts. Part I presents one chapter dealing with ROS2 and presents a tutorial on using the MediaPipe framework with ROS2. In Part II, three chapters present new contributions of ROS frameworks and applications, including micro-ROS, Autonomous 3D Thermal Mapping of Disaster Environments, and Lab-scale Smart Factory Implementation Using ROS. Part III provides contributions on how to use ROS for cooperative robotics behaviors, particularly in platoon applications, in addition to developing new perception and control algorithms with sensing technologies.
This book will be a valuable companion for ROS users and developers to learn more about ROS capabilities and features.
Author(s): Anis Koubaa
Series: Studies in Computational Intelligence, 1051
Publisher: Springer
Year: 2023
Language: English
Pages: 238
City: Cham
Contents
ROS2
Micro-ROS
1 Introduction
1.1 New Use-Case for ROS 2
1.2 Goals of Micro-ROS
1.3 Goals and Structure of This Chapter
2 Architecture Overview and Design Rationales
2.1 Requirements
2.2 Layer-by-Layer Walkthrough
2.3 Major Feature Differences to ROS 2
2.4 Design Rationales
2.5 Supported RTOS and Microcontrollers
3 First Application Tutorial
3.1 Ping-Pong Application with micro_ros_setup
3.2 Ping-Pong Application with Component for ESP-IDF
3.3 Build with Docker Container
4 Middleware Micro XRCE-DDS
4.1 The DDS-XRCE Standard
4.2 Micro XRCE-DDS Architecture and Implementation
4.3 Micro XRCE-DDS in the Micro-ROS Stack
4.4 Memory Profiling of Micro XRCE-DDS in Micro-ROS
5 Client Library
5.1 Programming with rcl and rclc
5.2 Execution Management with the rclc Executor
5.3 ROS Graph
5.4 Advanced Runtime Lifecycle Management
5.5 Diagnostics
6 Build and Development Tools
6.1 Build Tools
6.2 Benchmarking
7 Use-Cases
7.1 Micro-ROS-Enabled GNSS Module by Hydrasystem
7.2 Off-Road Vehicle Control with Micro-ROS Interface by Bosch Rexroth
7.3 Smart Warehouse Use-Case by Łukasiewcz-PIAP
8 Final Remarks
References
A Tutorial to Use the MediaPipe Framework with ROS2
1 Introduction
2 The MediaPipe Framework
3 MediaPipe ROS2 Package
3.1 MediaPipe ROS2 Installation
3.2 MediaPipe ROS2 Hands Detector
3.3 MediaPipe ROS2 Pose Detector
3.4 MediaPipe ROS2 Face Mesh
3.5 MediaPipe ROS2 Holistic
4 Example Application
4.1 Mobile Robot
4.2 Control Strategy
4.3 Execution and Results
5 Conclusion
References
ROS Frameworks and
Applications
Autonomous 3D Thermal Mapping of Disaster Environments for Victims Detection
1 Introduction
2 System Overview
3 Background, Sensors and ROS Configuration
3.1 ROS Packages, Configuration and Data Acquisition
3.2 Equipment Calibration
3.3 Thermal Image Processing and Transmission Using OpenCV and ROS
3.4 Integration of Thermal and Depth Camera with ROS
3.5 Neural Network for Victims Identification
3.6 System Requirements for Execution
4 Autonomous 3D Thermal Mapping and Victims Identification
4.1 Point Clouds Acquisition and Processing
4.2 Victims Detection
5 Results and Discussion
5.1 Victims Identification in Post-disaster Environments
6 Conclusion and Future Work
References
Lab-Scale Smart Factory Implementation Using ROS
1 Introduction
2 The Smart Factory Kit
3 Legacy System Upgrade
3.1 ROS Components and Network
3.2 ftDuino Integration into the Arduino IDE
4 ROS Environment Configuration
4.1 Prerequisite Packages
5 SCADA System
5.1 MQTT Protocol
5.2 ROS-MQTT Bridge Configuration
6 Test of the System
7 Conclusion
References
Cooperation, Sensing and Control
RosDrive: An Open-Source ROS-Based Vehicular Simulator for STEM Control Systems Classes Tutorial
1 Introduction
2 Simulator Architecture
2.1 Robot Operating System (ROS)
2.2 Gazebo
2.3 Scenario and 3D Vehicle Model
2.4 System's Outputs
3 Control Algorithms
3.1 Vehicle Model
3.2 Cruise Controller (CC)
3.3 Line Follower
3.4 Obstacle Detection and Avoidance
4 Experimental Validation
4.1 Cruise Controller Implementation
4.2 Line Follower (LF) Controller
4.3 Obstacle Detection and Avoidance
5 Conclusions and Future Works
5.1 Main Code Repository
5.2 Main Requirements
5.3 Setup Project
5.4 How to Run RosDrive Simulator
5.5 Optional Configuration
5.6 RosDrive Video Demonstrations
References
Autonomous Laser-Induced Breakdown Spectroscopy System for Chemical and Mineralogical Designation of Interplanetary Materials
1 Introduction
1.1 Laser-Induced Breakdown Spectroscopy
1.2 LIBS Advantages and Disadvantages
1.3 Calibration-Free LIBS
1.4 LIBS Applications
1.5 The Focus of This Study
1.6 The Robot Operating System
2 In-Depth LIBS Instrumentation
2.1 Concept
2.2 Instrumentation
3 LIBS System Software
3.1 Hardware Drivers
3.2 Autonomy
3.3 Visualisation
3.4 User Interface
4 Software Tutorial
4.1 Compiling the Software
4.2 Configuring the Software
4.3 Running the Software
5 Experiments and Results
6 Conclusion
References
High Fidelity IMU and Wheel Encoder Models for ROS Based AGV Simulations
1 Introduction
2 High Fidelity Wheel Encoder and IMU Models in ROS and Gazebo
2.1 Run-Time Adjustable Noise in Gazebo Wheel Encoder
2.2 Run-Time Adjustable Noise in Gazebo IMU Sensor
2.3 Modeling Sensor Uncertainties/Disturbances Using Poisson Distribution
3 Simulation Studies
3.1 Square Route Test
3.2 Circular Route Test
4 Conclusion
References
