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Robot Operating
System (ROS) for
Absolute Beginners
Robotics Programming Made Easy
—
Lentin Joseph
Robot Operating
System (ROS) for
Absolute Beginners
Robotics Programming
Made Easy
Lentin Joseph
Robot Operating System (ROS) for Absolute Beginners: Robotics
Programming Made Easy
Lentin Joseph
Cheerakathil House
Aluva, Kerala, India
The original version of the book FM and Cover was revised. An erratum for the book
FM and the Cover can be found at https://doi.org/10.1007/978-1-4842-3405-1_7
Table of Contents
About the Author���������������������������������������������������������������������������������xi
About the Technical Reviewer�����������������������������������������������������������xiii
v
Table of Contents
vi
Table of Contents
vii
Table of Contents
viii
Table of Contents
Erratum�����������������������������������������������������������������������������������������������E1
Index�������������������������������������������������������������������������������������������������275
ix
About the Author
Lentin Joseph is an author and a robotics entrepreneur from India. He
runs a robotics software company called Qbotics Labs. He has seven years
of experience in the robotics domain, especially in the Robot Operating
System, OpenCV, and PCL.
He has authored four books in ROS, including Learning Robotics Using
Python (Packt Publishing, 2015), Mastering ROS for Robotics Programming
(first & second edition) (Packt Publishing, 2015), and ROS Robotics Projects
(Packt Publishing, 2015).
He is currently doing research for the Robotics Institute at Carnegie
Mellon University.
xi
About the Technical Reviewer
Massimo Nardone has more than 22 years
of experiences in security, web/mobile
development, the cloud, and IT architecture.
His true IT passions are security and Android.
He has been programming and teaching
how to program with Android, Perl, PHP, Java,
VB, Python, C/C++, and MySQL for more than
20 years.
He holds a Master of Science degree in
computing science from the University of
Salerno, Italy.
He has worked as a project manager, software engineer, research
engineer, chief security architect, information security manager,
PCI/SCADA auditor, and senior lead IT security/cloud/SCADA architect
for many years.
His technical skills include security, Android, Cloud, Java, MySQL,
Drupal, Cobol, Perl, web and mobile development, MongoDB, D3, Joomla,
Couchbase, C/C++, WebGL, Python, Pro Rails, Django CMS, Jekyll,
Scratch, and more.
He is currently the chief information security officer (CISO) at
Cargotec Oyj.
He worked as a visiting lecturer and supervisor for exercises at the
Networking Laboratory of the Helsinki University of Technology (Aalto
University). He holds four international patents (in the PKI, SIP, SAML, and
Proxy areas).
xiii
CHAPTER 1
Getting Started
with Ubuntu Linux
for Robotics
Let’s start our journey of programming robots by using the Robot
Operating System (ROS). In order to get started with ROS, there are
some prerequisites to be satisfied. The prerequisites are to have a good
understanding of Linux, especially Ubuntu; a good understanding of Linux
shell commands; and Python and C++programming knowledge.
This book discusses all the prerequisite technologies required for
robot programming using ROS. This first chapter introduces the Ubuntu
operating system, installation, important shell commands, and the
important tools for programming robots. If you already work with Ubuntu,
you should still go through this chapter. It will refresh your existing
understanding of Ubuntu Linux.
What Is Ubuntu?
Ubuntu (www.ubuntu.com) is a popular Linux distribution based on
the Debian architecture (https://en.wikipedia.org/wiki/Debian).
It is freely available for use, and it is open source, so it can be modified
according to your application. Ubuntu comes with more than 1,000
pieces of software, including the Linux kernel, a GNOME/KDE desktop
2
Chapter 1 Getting Started with Ubuntu Linux for Robotics
I nstalling Ubuntu
This section discusses how to install Ubuntu 16.04 LTS. The procedure for
installing any Ubuntu version is almost the same. Like any other operating
system, a PC should have the recommended system requirements to
install Ubuntu. Here are the recommended requirements needed for your
PC. After that you can see the detailed procedure of Ubuntu installation.
3
Chapter 1 Getting Started with Ubuntu Linux for Robotics
Recommended PC Requirements
• 2GHz dual core processor or better
D
ownloading Ubuntu
The first step is to download the DVD/CD ISO image. To download an
Ubuntu image, go to www.ubuntu.com/download/desktop.
You can take a look at all Ubuntu releases at http://releases.ubuntu.com.
The DVD image is less than 1GB. It is named ubuntu-16.04.X-desktop-
amd64.iso. By default, the ISO image is 64-bit architecture; if your PC RAM
size is less than 4GB, you can use 32-bit architecture.
After downloading the desired Ubuntu image, there are two options for
installing Ubuntu.
4
Other documents randomly have
different content
CHAPTER V.
THE DREADNOUGHT BOYS’ FORTUNE.
But of their host’s interest in the papers the little group had no
inkling. They contentedly sipped their sodas—which, to tell the truth,
despite their provider’s recommendation, were rather warm—and
watched Stanley furrowing his weather-beaten brow over the
documents.
“Well,” said Ned at last, “what do you make of them?”
“Hold on a minute,” cried Stanley excitedly. Evidently he had
stumbled across something that made the papers of strange interest
to him.
“Why,” he shouted with a slap of his knees the next minute, “it looks
like we’ve stumbled on somebody’s treasure trove.”
“What?”
“That’s what I said. This paper here, so far as I can make out, is the
last will and testament of this old chap, de Guzman, who signs it. It
wills all his fortune, real and personal, and that seems to be pretty
big, to a Senorita Isabelle de Guzman.”
“Guzman!” exclaimed Ned, “seems to me I’ve heard that name a lot
lately.”
“Why, yes,” put in Herc, “it’s the name of the leader of the
revolutionists. They say he’s the worst enemy Americans down here
have.”
“Hum,” pondered Ned, “maybe this girl is some relation.”
“Maybe; there’s a good catch for you, Ned,” laughed Stanley, “for
this will disposes of an estate worth almost a million, and that’s a lot
of money down here.”
“Or any other place,” grinned Herc, clinking what remained of his
last month’s pay.
“Well, what are we going to do about it?” inquired Ned.
“Just hang on to it for a while,” counseled Stanley, handing back the
paper. “I’d advise you to consult with Lieutenant Timmons or the
American consul, and then we can learn better what to do about it.
After all, the Guzman named here may be down in the Argentine for
all we know. It’s a common enough name in South America.”
“That’s so,” agreed Ned, “but the ship hailed from this port, or so her
papers said.”
“That’s right,” agreed Stanley, “but what was old de Guzman,
supposing he is, or was, worth a million, doing in her galley?”
“That’s a poser,” cried Herc.
“It’s like a scattered Chinese puzzle,” muttered Ned. “I wonder if we
shall ever be able to put it together. Hello!”
He started to his feet suddenly and ran rapidly round the table to the
other side of the arbor.
“What are you doing—chasing yourself round the block for
exercise?” demanded the astonished Herc.
“No, but I’m almost certain that I saw some one dodge behind those
palms yonder as I jumped up. Just before that I heard a rustling in
the creepers behind you.”
“Somebody rubbering?”
“That’s what it looked like. I don’t know what to make of it.”
“I do,” put in Stanley, rubbing his grizzled chin.
“What, then?”
“That was a mighty interesting conversation we were just having.”
“To whom but ourselves?”
“To any one named Guzman, or kin to the Guzmans,” pronounced
Stanley gravely.
“By hookey, you’re right! Who do you think it could have been?”
“I haven’t got any idea. Maybe our friend, the handsome waiter,”
suggested Herc.
“I wonder,” mused Ned, but at that instant, as if to contradict his
thoughts, the proprietor of the Villa Espenza appeared from quite
another direction, balancing his tray gracefully and humming a song.
“Is there any one but ourselves here to-day?” inquired Ned, as he
came up.
“Alas! no,” was the reply, “business is very bad. You are the only
customers we have had for some days. The revolution has put
business—what you Americans call ‘to the bad.’”
After ordering and drinking more sodas the boys and their older
companion rose and, bidding farewell to the bowing proprietor and
promising to call again, started for the ship.
“Say, that fellow reminds me of somebody, and I can’t think who,”
said Ned, as they set off down the hillside.
“Same here,” murmured Herc. “I have it!” he exclaimed suddenly,
“that chap in Brooklyn—the fellow who wanted to know what was
going on on board the Beale.”
“Oh, that dago,” grunted Stanley, who was acquainted with the
incident, which the boys had related to him. “Somehow I’ve got an
idea you’ll hear more of that chap.”
“I hope not,” responded Ned. “I wouldn’t pick him out for a constant
companion.”
On their way through the water-front portion of the town the three
passed a small shop in which post-cards were displayed for sale.
“Let’s go in and get some,” suggested Ned.