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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 Feb 2018

Publisher Packt

ISBN-13 9781788478953

Length 580 pages

Edition 2nd Edition

Languages

C++

Tools

ROS

Concepts

Design

Authors (2):

Lentin Joseph

Jonathan Cacace

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Table of Contents (17) Chapters

Preface

1. Introduction to ROS FREE CHAPTER

2. Getting Started with ROS Programming

3. Working with 3D Robot Modeling in ROS

4. Simulating Robots Using ROS and Gazebo

5. Simulating Robots Using ROS and V-REP

6. Using the ROS MoveIt! and Navigation Stack

7. Working with pluginlib, Nodelets, and Gazebo Plugins

8. Writing ROS Controllers and Visualization Plugins

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

10. Programming Vision Sensors Using ROS, Open CV, and PCL

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

12. Exploring the Advanced Capabilities of ROS-MoveIt!

13. Using ROS in MATLAB and Simulink

14. ROS for Industrial Robots

15. Troubleshooting and Best Practices in ROS

16. Other Books You May Enjoy

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Installing MoveIt!

Let's start with installing MoveIt!. 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 ad planners for ROS Kinetic:

$ sudo apt-get install ros-kinetic-moveit ros-kinetic-moveit-plugins ros-kinetic-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:

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 an integrator of the various components of the robot and delivers actions/services according to the user's needs.

From the architecture...