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Robot Operating System Cookbook

You're reading from   Robot Operating System Cookbook Over 70 recipes to help you master advanced ROS concepts

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Product type Paperback
Published in Jun 2018
Publisher Packt
ISBN-13 9781783987443
Length 484 pages
Edition 1st Edition
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Author (1):
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Kumar Bipin Kumar Bipin
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Kumar Bipin
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Toc

Table of Contents (12) Chapters Close

Preface 1. Getting Started with ROS FREE CHAPTER 2. ROS Architecture and Concepts I 3. ROS Architecture and Concepts – II 4. ROS Visualization and Debugging Tools 5. Accessing Sensors and Actuators through ROS 6. ROS Modeling and Simulation 7. Mobile Robot in ROS 8. The Robotic Arm in ROS 9. Micro Aerial Vehicles in ROS 10. ROS-Industrial (ROS-I) 11. Other Books You May Enjoy

Understanding robot modeling using xacro

In this section, we will discuss xacro, XML macros which define the URDF files in a compact form and makes their readability and maintainability easier. Moreover, this new format allows us to develop the robot model in a modular structure, which can be reused in complex design.

Getting ready

Once again, we are going to build a mobile robot with four wheels and an arm robot with a gripper, like we discussed in the previous section, using xacro instead of the URDF file format. Moreover, we can create each example program in the ROS package in our workspace individually or copy them from the chapter6_tutorials packages in GitHub, which are arm_robot.xacro and mobile_robot.xacro, respectively...

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