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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

Adding perception to motion planning

In the previous section, we learned how to plan and execute trajectories for our robot using programs. However, we weren't taking into account perception, were we?

Usually, we will want to take the data from a 3D vision sensor into account; for instance, from a Kinect camera. This will give us real-time information about the environment, which will allow us to plan more realistic motions, introducing any changes that the environment suffers from. So, in this section, we are going to learn how we can add a 3D vision sensor to MoveIt in order to perform vision-assisted motion planning!

Getting ready

First of all, let's make some changes to the current simulation so that we are able...

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