In this chapter, we have been discussing a new interface of ROS for industrial robots called ROS-Industrial. We have seen the basic concepts in developing the industrial packages and installed them on Ubuntu. After installation, we have seen the block diagram of this stack, and started discussing developing the URDF model for industrial robots and also creating the MoveIt! interface for an industrial robot. After covering these topics in detail, we installed some industrial robot packages of Universal Robots and ABB. We have learned the structure of the MoveIt! package and then shifted to the ROS-Industrial support packages. We have discussed in detail and switched on to concepts such as the industrial robot client and how to create the MoveIt! IKFast plugin. Finally, we used the developed plugin in the ABB robot.
In the next chapter, we will look at troubleshooting and...
