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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

Product type Paperback

Published in Dec 2015

Publisher Packt

ISBN-13 9781783551798

Length 480 pages

Edition 1st Edition

Languages

C++

Tools

Ubuntu Server

Concepts

Robotics

Author (1):

Lentin Joseph

View More author details

Table of Contents (14) Chapters

Preface

1. Introduction to ROS and Its Package Management FREE CHAPTER

2. Working with 3D Robot Modeling in ROS

3. Simulating Robots Using ROS and Gazebo

4. Using the ROS MoveIt! and Navigation Stack

5. Working with Pluginlib, Nodelets, and Gazebo Plugins

6. Writing ROS Controllers and Visualization Plugins

7. Interfacing I/O Boards, Sensors, and Actuators to ROS

8. Programming Vision Sensors using ROS, Open-CV, and PCL

9. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS

10. Exploring the Advanced Capabilities of ROS-MoveIt!

11. ROS for Industrial Robots

12. Troubleshooting and Best Practices in ROS

Index

Installing MoveIt!

Let's start with installing MoveIt!. The installation procedure is very simple and is just a single command.

Installing MoveIt! on ROS Indigo can be done using the following command. Here we are installing MoveIt! binary packages.

$ sudo apt-get install ros-indigo-moveit-full

In ROS Jade, we can install MoveIt! using the following command:

$ sudo apt-get install ros-jade-moveit-ros ros-jade-moveit-plugins ros-jade-moveit-planners

MoveIt! architecture

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

Here is the MoveIt! architecture, included in their official web page at http://moveit.ros.org/documentation/concepts:

MoveIt! architecture

Figure 1: MoveIt! architecture diagram

The move_group node

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

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Authors (1)

Lentin Joseph

Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.

See other products by Lentin Joseph

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