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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

Generating MoveIt! configuration package using Setup Assistant tool

The MoveIt! Setup Assistant is a graphical user interface for configuring any robot to MoveIt!. Basically, this tool generates SRDF, configuration files, launch files, and scripts generating from the robot URDF model, which is required to configure the move_group node.

The SRDF file contains details about the arm joints, end effector joints, virtual joints, and also the collision link pairs which are configured during the MoveIt! configuration process using the Setup Assistant tool.

The configuration file contains details about the kinematic solvers, joint limits, controllers, and so on, which are also configured and saved during the configuration process.

Using the generated configuration package of the robot, we can work with motion planning in RViz without the presence of a real robot or simulation interface.

Let's start the configuration wizard, and we can see the step by step procedure to build the configuration package...

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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.

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