ABSTRACT
With the advent of robot operating system (ROS) and its acceptance by roboticists, current robotic systems are developed much more rapidly than in the past, enabling more attention on pushing back frontiers of robot competence. With ROS's communications infrastructure, separate but integrated nodes can be run concurrently, and these nodes can be distributed easily across multiple computers. This conclusion presents some closing thoughts on the concepts discussed in the preceding chapters of this book. The book introduces simulation and visualization in ROS. Tools to assist development and debugging include rosrun, roslaunch, rosbag, rqtplot, rqtreconfigure and rqtconsole. These tools, together with the underlying communications, help developers create robotic systems faster than ever before. The book also surveys sensory interpretation, including camera calibration, use of OpenCV, stereo imaging, 3-D LIDAR sensing and depth cameras. It discusses ROS's support of mobile robots, and ROS in the context of robot arm planning and control.
