Название: Robot Operating System (ROS) The Complete Reference (Volume 7)
Автор: Anis Koubaa
Издательство: Springer
Серия: Studies in Computational Intelligence
Год: 2023
Страниц: 239
Язык: английский
Формат: pdf (true)
Размер: 10.2 MB

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.

The micro-ROS stack (micro. ros. org) integrates microcontrollers seamlessly with standard ROS 2 and brings all major ROS concepts such as nodes, publisher, subscriptions, parameters, and lifecycle onto deeply embedded systems. This enables accessing all software using the same ROS tools and APIs, regardless of the underlying computing hardware and operating system. Micro-ROS supports a broad spectrum of microcontroller families and the main open-source real-time operating systems like FreeRTOS, Zepyhr, or NuttX. It supports various microcontroller- or RTOS-specific build systems and provides ROS-CLI-based build tooling. Micro-ROS is an open-source project that has been under development at github. com/ micro-ROS since 2018. It was initiated by the EU-funded innovation activity OFERA. During the the last two years, micro-ROS has been adopted by a relevant group of professional users inside the ROS community. In this chapter, we give a technical introduction to the micro-ROS stack including APIs and architecture, as well as the corresponding middleware Micro XRCE-DDS. Furthermore, tutorials for a simple application with an ESP32 microcontroller are provided together with a report on three use-cases from industrial and research applications.

This book will be a valuable companion for ROS users and developers to learn more about ROS capabilities and features.

Contents:
Part I. ROS2
Micro-ROS
A Tutorial to Use the MediaPipe Framework with ROS2
Part II. ROS Frameworks and Applications
Autonomous 3D Thermal Mapping of Disaster Environments for Victims Detection
Lab-Scale Smart Factory Implementation Using ROS
Part III. Cooperation, Sensing and Control
RosDrive: An Open-Source ROS-Based Vehicular Simulator for STEM Control Systems Classes Tutorial
Autonomous Laser-Induced Breakdown Spectroscopy System for Chemical and Mineralogical Designation of Interplanetary Materials
High Fidelity IMU and Wheel Encoder Models for ROS Based AGV Simulations