Effective Robotics Programming with ROS - Third Edition.pdf

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Effective Robotics
Programming with ROS
Third Edition
Find out everything you need to know to build powerful
robots with the most up-to-date ROS
Anil Mahtani
Luis Sánchez
Enrique Fernández
Aaron Martinez
BIRMINGHAM - MUMBAI
Effective Robotics Programming with ROS
Third Edition
Copyright © 2016 Packt Publishing
All rights reserved. No part of this book may be reproduced, stored in a retrieval
system, or transmitted in any form or by any means, without the prior written
permission of the publisher, except in the case of brief quotations embedded in
critical articles or reviews.
Every effort has been made in the preparation of this book to ensure the accuracy
of the information presented. However, the information contained in this book is
sold without warranty, either express or implied. Neither the authors, nor Packt
Publishing, and its dealers and distributors will be held liable for any damages
caused or alleged to be caused directly or indirectly by this book.
Packt Publishing has endeavored to provide trademark information about all of the
companies and products mentioned in this book by the appropriate use of capitals.
However, Packt Publishing cannot guarantee the accuracy of this information.
First published: September 2013
Second edition: August 2015
Third edition: December 2016
Production reference: 1231216
Published by Packt Publishing Ltd.
Livery Place
35 Livery Street
Birmingham B3 2PB, UK.
ISBN 978-1-78646-365-4
www.packtpub.com
Credits
Authors
Anil Mahtani
Luis Sánchez
Enrique Fernández
Aaron Martinez
Reviewer
Lentin Joseph
Commissioning Editor
Kartikey Pandey
Acquisition Editor
Narsimha Pai
Content Development Editor
Abhishek Jadhav
Technical Editor
Gaurav Suri
Copy Editors
Safis Editing
Dipti Mankame
Proofreader
Safis Editing
Indexer
Pratik Shirodkar
Graphics
Kirk D'Penha
Production Coordinator
Shantanu N. Zagade
Cover Work
Shantanu N. Zagade
Project Coordinator
Judie Jose
About the Authors
Anil Mahtani
is a computer scientist who has dedicated an important part of his
career to underwater robotics. He first started working in the field with his master
thesis, where he developed a software architecture for a low-cost ROV. During the
development of his thesis, he also became the team leader and lead developer of
AVORA, a team of university students that designed and developed an autonomous
underwater vehicle for the Students Autonomous Underwater Challenge – Europe
(SAUC-E) in 2012. That same year, Anil Mahtani completed his thesis and his MSc in
Computer Science at the University of Las Palmas de Gran Canaria and then became
a Software Engineer at SeeByte Ltd, a world leader in smart software solutions for
underwater systems. In 2015, he joined Dell Secureworks as a Software Engineer,
where he applies his knowledge and skills toward developing intrusion detection
and prevention systems.
During his time at SeeByte Ltd, Anil Mahtani played a key role in the development
of several semi-autonomous and autonomous underwater systems for the military
and oil and gas industries. In those projects, he was heavily involved in the
development of autonomy systems, the design of distributed software architectures,
and low-level software development and also contributed in providing Computer
Vision solutions for front-looking sonar imagery. At SeeByte Ltd, he also achieved
the position of project manager, managing a team of engineers developing and
maintaining the internal core C++ libraries.

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