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Robot Operating System - the Complete Reference (Volume 4) Part of the Studies in Computational Intelligence Book Series (SCI, Volume 831) Book Robot Operating System - The Complete Reference (Volume 4) Part of the Studies in Computational Intelligence book series (SCI, volume 831) Several authors CISTER-TR-190702 2019 Book CISTER-TR-190702 Robot Operating System - The Complete Reference (Volume 4) Robot Operating System - The Complete Reference (Volume 4) Several authors CISTER Research Centre Rua Dr. António Bernardino de Almeida, 431 4200-072 Porto Portugal Tel.: +351.22.8340509, Fax: +351.22.8321159 E-mail: https://www.cister-labs.pt Abstract This is the fourth volume of the successful series Robot Operating Systems: The Complete Reference, providing a comprehensive overview of robot operating systems (ROS), which is currently the main development framework for robotics applications, as well as the latest trends and contributed systems. The book is divided into four parts: Part 1 features two papers on navigation, discussing SLAM and path planning. Part 2 focuses on the integration of ROS into quadcopters and their control. Part 3 then discusses two emerging applications for robotics: cloud robotics, and video stabilization. Part 4 presents tools developed for ROS; the first is a practical alternative to the roslaunch system, and the second is related to penetration testing. This book is a valuable resource for ROS users and wanting to learn more about ROS capabilities and features. © 2019 CISTER Research Center 1 www.cister-labs.pt Studies in Computational Intelligence 831 Anis Koubaa Editor Robot Operating System (ROS) The Complete Reference (Volume 4) Studies in Computational Intelligence Volume 831 Series Editor Janusz Kacprzyk, Polish Academy of Sciences, Warsaw, Poland [email protected] The series “Studies in Computational Intelligence” (SCI) publishes new develop- ments and advances in the various areas of computational intelligence—quickly and with a high quality. The intent is to cover the theory, applications, and design methods of computational intelligence, as embedded in the fields of engineering, computer science, physics and life sciences, as well as the methodologies behind them. The series contains monographs, lecture notes and edited volumes in computational intelligence spanning the areas of neural networks, connectionist systems, genetic algorithms, evolutionary computation, artificial intelligence, cellular automata, self-organizing systems, soft computing, fuzzy systems, and hybrid intelligent systems. Of particular value to both the contributors and the readership are the short publication timeframe and the world-wide distribution, which enable both wide and rapid dissemination of research output. The books of this series are submitted to indexing to Web of Science, EI-Compendex, DBLP, SCOPUS, Google Scholar and Springerlink. More information about this series at http://www.springer.com/series/7092 [email protected] Anis Koubaa Editor Robot Operating System (ROS) The Complete Reference (Volume 4) 123 [email protected] Editor Anis Koubaa College of Computer Science and Information Systems Prince Sultan University Riyadh, Saudi Arabia CISTER Research Center Porto, Portugal Gaitech Robotics Shanghai, China ISSN 1860-949X ISSN 1860-9503 (electronic) Studies in Computational Intelligence ISBN 978-3-030-20189-0 ISBN 978-3-030-20190-6 (eBook) https://doi.org/10.1007/978-3-030-20190-6 © Springer Nature Switzerland AG 2020 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. This Springer imprint is published by the registered company Springer Nature Switzerland AG The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland [email protected] Reviewers Anis Koubaa, Prince Sultan University, Saudi Arabia/CISTER Research Unit, Portugal Giuseppe Silano, University of Sannio in Benevento Andre Oliveira, UTFPR Marco Teixeira, UTFPR Dinesh Thakur, University of Pennsylvania David Portugal, Ingeniarius, Ltd. Michael Carroll, Robotic Paradigm Systems Joao Fabro, UTFPR—Federal University of Technology—Parana Christopher-Eyk Hrabia, Technische Universität/DAI Labor Martin Martorell, CYBERDYNE Inc. Valerio De Carolis, Heriot-Watt University Francisco J. Rodríguez Lera, University of Luxembourg Francesco Rovida, Aalborg University Ankit Ravankar, Hokkaido University Marco Wehrmeister, Federal University of Technology—Parana Alvaro Cantieri, Instituto Federal do Paraná Ingo Lütkebohle, Robert Bosch GmbH Bernhard Dieber, JOANNEUM RESEARCH—Institute for Robotics and Mechatronics Huimin Lu, National University of Defense Technology Tirtharaj Dash, BITS Pilani Raffaele Limosani, Scuola Superiore Sant’Anna Vahid Azizi, Rutgers University v [email protected] Contents Navigation A Guide for 3D Mapping with Low-Cost Sensors Using ROS ........ 3 David Portugal, André Araújo and Micael S. Couceiro Path Planning and Following for an Autonomous Model Car Using an “Eye in the Sky” ................................... 25 Rodrigo Rill-García, Jose Martinez-Carranza, Edgar Granados and Marco Morales Quadcopters Parametric Optimization for Nonlinear Quadcopter Control Using Stochastic Test Signals ................................. 55 Antonio Matus-Vargas, Gustavo Rodriguez-Gomez and Jose Martinez-Carranza CrazyS: A Software-in-the-Loop Simulation Platform for the Crazyflie 2.0 Nano-Quadcopter ....................................... 81 Giuseppe Silano and Luigi Iannelli Applications Cloud Robotics with ROS.................................... 119 Giovanni Toffetti and Thomas Michael Bohnert Video Stabilization of the NAO Robot Using IMU Data............. 147 Oswualdo Alquisiris-Quecha and Jose Martinez-Carranza vii [email protected] viii Contents ROS Tools roslaunch2: Versatile, Flexible and Dynamic Launch Configurations for the Robot Operating System ............................... 165 Adrian Böckenkamp Penetration Testing ROS .................................... 183 Bernhard Dieber, Ruffin White, Sebastian Taurer, Benjamin Breiling, Gianluca Caiazza, Henrik Christensen and Agostino Cortesi [email protected] Navigation [email protected] A Guide for 3D Mapping with Low-Cost Sensors Using ROS David Portugal, André Araújo and Micael S. Couceiro Abstract Open source software and low-cost sensors bring unquestionable advan- tages to the robotics community, facilitating the access to a wide range of robotic applications to virtually anyone, and playing an important role in recent advances. With the progressive overthrown of the cost barrier, development of robotic solu- tions has become more widespread among our society, as witnessed by the increase of service robotic applications to consumers. Despite the ease of access to low-cost sensors nowadays, knowledge of sensor integration and robotics middleware is still imperative to design successful robotic solutions. In this tutorial chapter, we provide an educational guide that leverages open source tools, such as the Robot Operating System (ROS), and low-cost sensors, such as the Microsoft Kinect v2, to design a full 3D indoor Mapping system. The ultimate goal of the system is to create a com- prehensive and detailed 3D map of any indoor environment. Besides going through all the key steps to setup such a system and presenting interactive results, we also provide an experimental dataset that we hope can be useful to the community in the future. Keywords Educational robotics · Open source software · Low-cost sensors · 3D Mapping 1 Introduction The market of sensors for robotics is changing: precisions sensors for robotic appli- cations, such as time-of-flight (TOF) cameras, laser range finders (LRFs) or Inertial Measurement Units (IMUs) used to be only available to some companies and/or D. Portugal (B) · A. Araújo · M. S. Couceiro Ingeniarius, Ltd., R. Coronel Veiga Simão, Edifício CTCV, 3◦Piso, 3025-307 Coimbra, Portugal e-mail: [email protected] A. Araújo e-mail: [email protected] M. S. Couceiro e-mail: [email protected] © Springer Nature Switzerland AG 2020 3 A. Koubaa (ed.), Robot Operating System (ROS), Studies in Computational Intelligence 831, https://doi.org/10.1007/978-3-030-20190-6_1 [email protected] 4 D. Portugal et al. robotics institutes, due to their high cost. In recent years, there has been an evi- dent effort to provide low-cost sensory alternatives to replace traditionally expensive sensors, thanks to the vision of a rising number of robotic companies leading to an increased investment in robotics worldwide,
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