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Mastering ROS for Robotics Programming

You're reading from   Mastering ROS for Robotics Programming Design, build, and simulate complex robots using the Robot Operating System

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Product type Paperback
Published in Feb 2018
Publisher Packt
ISBN-13 9781788478953
Length 580 pages
Edition 2nd Edition
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Authors (2):
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Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
Jonathan Cacace Jonathan Cacace
Author Profile Icon Jonathan Cacace
Jonathan Cacace
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Table of Contents (17) Chapters Close

Preface 1. Introduction to ROS FREE CHAPTER 2. Getting Started with ROS Programming 3. Working with 3D Robot Modeling in ROS 4. Simulating Robots Using ROS and Gazebo 5. Simulating Robots Using ROS and V-REP 6. Using the ROS MoveIt! and Navigation Stack 7. Working with pluginlib, Nodelets, and Gazebo Plugins 8. Writing ROS Controllers and Visualization Plugins 9. Interfacing I/O Boards, Sensors, and Actuators to ROS 10. Programming Vision Sensors Using ROS, Open CV, and PCL 11. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS 12. Exploring the Advanced Capabilities of ROS-MoveIt! 13. Using ROS in MATLAB and Simulink 14. ROS for Industrial Robots 15. Troubleshooting and Best Practices in ROS 16. Other Books You May Enjoy

Understanding pluginlib

Plugins are a commonly used term in the computer world. They are modular pieces of software that can add a new feature to the existing software application. The advantage of plugins is that we don't need to write all the features in the main software; instead, we can make an infrastructure on the main software to accept new plugins to it. Using this method, we can extend the capabilities of the software to any level.

We need plugins for our robotics application too. When we are going to build a complex ROS-based application for a robot, plugins will be a good choice to extend the capabilities of the application.

The ROS system provides a plugin framework called pluginlib to dynamically load/unload plugins, which can be a library or class. pluginlib represents a set of a C++ library, which helps to write plugins and load/unload whenever we need to.

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