You're reading from Mastering ROS for Robotics Programming, Third edition Best practices and troubleshooting solutions when working with ROS

Product type Paperback

Published in Oct 2021

Publisher Packt

ISBN-13 9781801071024

Length 594 pages

Edition 3rd Edition

Languages

C++

Tools

Robot Framework

Concepts

Robotics

Authors (2):

Lentin Joseph

Jonathan Cacace

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Table of Contents (22) Chapters

Preface

1. Section 1 – ROS Programming Essentials

2. Chapter 1: Introduction to ROS FREE CHAPTER

3. Chapter 2: Getting Started with ROS Programming

4. Section 2 – ROS Robot Simulation

5. Chapter 3: Working with ROS for 3D Modeling

6. Chapter 4: Simulating Robots Using ROS and Gazebo

7. Chapter 5: Simulating Robots Using ROS, CoppeliaSim, and Webots

8. Chapter 6: Using the ROS MoveIt! and Navigation Stack

9. Chapter 7: Exploring the Advanced Capabilities of ROS MoveIt!

10. Chapter 8: ROS for Aerial Robots

11. Section 3 – ROS Robot Hardware Prototyping

12. Chapter 9: Interfacing I/O Board Sensors and Actuators to ROS

13. Chapter 10: Programming Vision Sensors Using ROS, OpenCV, and PCL

14. Chapter 11: Building and Interfacing Differential Drive Mobile Robot Hardware in ROS

15. Section 4 – Advanced ROS Programming

16. Chapter 12: Working with pluginlib, nodelets, and Gazebo Plugins

17. Chapter 13: Writing ROS Controllers and Visualization Plugins

18. Chapter 14: Using ROS in MATLAB and Simulink

19. Chapter 15: ROS for Industrial Robots

20. Chapter 16: Troubleshooting and Best Practices in ROS

21. Other Books You May Enjoy

The MoveIt! architecture

Before using MoveIt! in our ROS system, you have to install it. The installation procedure is very simple and is just a single command. Using the following commands, we install the MoveIt! core, a set of plugins and planners for ROS Noetic:

sudo apt-get install ros-noetic-moveit ros-noetic-moveit-plugins ros-noetic-moveit-planners

Let's start with MoveIt! by discussing its architecture. Understanding the architecture of MoveIt! helps to program and interface the robot with MoveIt!. We will quickly go through the architecture and the important concepts of MoveIt!, and start interfacing with and programming our robots.

Here is an overview of the MoveIt! architecture:

Figure 6.1 – MoveIt! architecture diagram

This diagram is also included in their official web page, at http://moveit.ros.org/documentation/concepts.

The move_group node

We can say that move_group is the heart of MoveIt!, as this node acts as an...

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You're reading from Mastering ROS for Robotics Programming, Third edition Best practices and troubleshooting solutions when working with ROS

Table of Contents (22) Chapters

The MoveIt! architecture

The move_group node

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Authors (2)

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