Studies in Computational Intelligence 778 Editor Anis Koubaa Robot Operating System (ROS) The Complete Reference (Volume 3) Studies in Computational Intelligence Volume 778 Series editor Janusz Kacprzyk, Polish Academy of Sciences, Warsaw, Poland e-mail: [email protected] The series “Studies in Computational Intelligence” (SCI) publishes new develop- mentsandadvancesinthevariousareasofcomputationalintelligence—quicklyand 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 worldwide distribution, which enable both wide and rapid dissemination of research output. More information about this series at http://www.springer.com/series/7092 Anis Koubaa Editor Robot Operating System (ROS) The Complete Reference (Volume 3) 123 Editor AnisKoubaa Collegeof Computer Science andInformationSystems PrinceSultan University Riyadh SaudiArabia and CISTER Research Unit Porto Portugal and Gaitech Robotics Shanghai, Beijing China ISSN 1860-949X ISSN 1860-9503 (electronic) Studies in Computational Intelligence ISBN978-3-319-91589-0 ISBN978-3-319-91590-6 (eBook) https://doi.org/10.1007/978-3-319-91590-6 LibraryofCongressControlNumber:2018940893 ©SpringerInternationalPublishingAG,partofSpringerNature2019 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart 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 orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. 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Printedonacid-freepaper ThisSpringerimprintispublishedbytheregisteredcompanySpringerInternationalPublishingAG partofSpringerNature Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Acknowledgements to Reviewers TheEditorwouldliketothankthefollowingreviewersfortheirgreatcontributions in the review process of the book by providing a quality feedback to authors. Reviewers Anis Koubâa, Prince Sultan University, Saudi Arabia / CISTER Research Unit, Portugal Abdulla Al-Kaff, Universidad Carlos III de Madrid David Portugal, Ingeniarius, Ltd. Maram Alajlan, King Saud University Joao Fabro, UTFPR - Federal University of Technology-Parana Valerio De Carolis, Heriot-Watt University Ricardo Julio, UNIFEI Andre Oliveira, UTFPR Juan Jesús Roldán Gómez, Universidad Politécnica de Madrid Kostas Alexis, University of Nevada, Reno Christoph Rösmann, Institute of Control Theory and Systems Engineering, TU Dortmund University Guilherme Sousa Bastos, UNIFEI Walter Fetter Lages, Universidade Federal do Rio Grande do Sul Lennart Kryza, TU Berlin Vladimir Ivan, The University of Edinburgh Elena Peña-Tapia, Universidad Politécnica de Madrid L. V. R. Arruda, UTFPR Michael Hutchinson, Loughborough University Maximilian Krämer, Technische Universität Dortmund Gonçalo Martins, University of Coimbra Viswanath Bellam, Robotics Research Industry Ali Bin Wahid, Shanghai Gentech Scientific Instruments Paulo Drews Jr., FURG Franz Albers, TU Dortmund Christos Papachristos, UNR v vi AcknowledgementstoReviewers João Santos, FARO Moritz Luetkemoeller, TU Dortmund Christos Papachristos, UNR Alvaro Cantieri, IFPR Acknowledgments The Editor would like to thank the Robotics and Internet of Things (RIoT) Lab of the College of Computer and Information Sciences of Prince Sultan University for their support to this work. Furthermore, the Editor thanks Gaitech Robotics in China for their support. vii Contents Part I Multi-robot Systems A ROS-Based Framework for Simulation and Benchmarking of Multi-robot Patrolling Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 David Portugal, Luca Iocchi and Alessandro Farinelli Multi-robot Systems, Virtual Reality and ROS: Developing a New Generation of Operator Interfaces . . . . . . . . . . . . . . . . . . . . . . . 29 Juan Jesús Roldán, Elena Peña-Tapia, David Garzón-Ramos, Jorge de León, Mario Garzón, Jaime del Cerro and Antonio Barrientos Part II Unmanned Aerial Systems Autonomous Exploration and Inspection Path Planning for Aerial Robots Using the Robot Operating System . . . . . . . . . . . . . . . . . . . . . . 67 Christos Papachristos, Mina Kamel, Marija Popović, Shehryar Khattak, Andreas Bircher, Helen Oleynikova, Tung Dang, Frank Mascarich, Kostas Alexis and Roland Siegwart A Generic ROS Based System for Rapid Development and Testing of Algorithms for Autonomous Ground and Aerial Vehicles . . . . . . . . . 113 Pawel Ladosz, Matthew Coombes, Jean Smith and Michael Hutchinson ROS-Based Approach for Unmanned Vehicles in Civil Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 Abdulla Al-Kaff, Francisco Miguel Moreno and Ahmed Hussein A Quadcopter and Mobile Robot Cooperative Task Using Visual Tags Based on Augmented Reality ROS Package . . . . . . . . . . . . . . . . . 185 AlvaroRogérioCantieri,RonnierF.Rohrich,AndréSchneiderdeOliveira, MarcoAurélioWehrmeister,JoãoAlbertoFabro,MarlondeOliveiraVaz, Magnus Eduardo Goulart and Guilherme Hideki ix x Contents Part III Navigation, Motion Planning and Control EXOTica: An Extensible Optimization Toolset for Prototyping and Benchmarking Motion Planning and Control . . . . . . . . . . . . . . . . . 211 Vladimir Ivan, Yiming Yang, Wolfgang Merkt, Michael P. Camilleri and Sethu Vijayakumar Online Trajectory Optimization and Navigation in Dynamic Environments in ROS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241 Franz Albers, Christoph Rösmann, Frank Hoffmann and Torsten Bertram A Backstepping Non-smooth Controller for ROS-Based Differential-Drive Mobile Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275 Walter Fetter Lages University Rover Challenge: Tutorials and Team Survey . . . . . . . . . . . 315 Daniel Snider, Matthew Mirvish, Michal Barcis and Vatan Aksoy Tezer Part IV Contributed ROS Packages SROS1: Using and Developing Secure ROS1 Systems . . . . . . . . . . . . . . 373 RuffinWhite,GianlucaCaiazza, HenrikChristensen andAgostinoCortesi GPU and ROS the Use of General Parallel Processing Architecture for Robot Perception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407 Nicolas Dalmedico, Marco Antônio Simões Teixeira, Higor Santos Barbosa, André Schneider de Oliveira, Lucia Valeria Ramos de Arruda and Flavio Neves Jr Connecting ROS and FIWARE: Concepts and Tutorial . . . . . . . . . . . . 449 Raffaele Limosani, Alessandro Manzi, Laura Fiorini, Paolo Dario and Filippo Cavallo Enabling Real-Time Processing for ROS2 Embedded Systems . . . . . . . 477 Lucas da Silva Medeiros, Ricardo Emerson Julio, Rodrigo Maximiano Antunes de Almeida and Guilherme Sousa Bastos Part V Interfaces for Interaction with Robots bum_ros: Distributed User Modelling for Social Robots Using ROS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531 Gonçalo S. Martins, Luís Santos and Jorge Dias ROSRemote: Using ROS on Cloud to Access Robots Remotely . . . . . . . 569 Alyson Benoni Matias Pereira, Ricardo Emerson Julio and Guilherme Sousa Bastos
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