Summary

In this chapter, we discussed creating plugins for RViz and writing basic ROS controllers. We have already worked with default controllers in ROS, and in this chapter, we developed a custom controller for moving joints. After building and testing the controller, we looked at RViz plugins. We created a new RViz panel for teleoperation. We can manually enter the topic name and linear and angular velocity in the panel. This panel is useful for controlling robots without starting another teleoperation node.

In the next chapter, we will discuss using ROS with MATLAB. MATLAB is a powerful numeric computing environment developed by MathWorks. The next chapter discusses how to interface this tool with ROS to create robot applications.

Here are some questions based on what we covered in this chapter.