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Mastering ROS for Robotics Programming, Third edition

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

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Product type Paperback
Published in Oct 2021
Publisher Packt
ISBN-13 9781801071024
Length 594 pages
Edition 3rd Edition
Languages
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Concepts
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Authors (2):
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Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
LinkedIn
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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Jonathan Cacace Jonathan Cacace
Author Profile Icon Jonathan Cacace
Jonathan Cacace
LinkedIn
Jonathan Cacace was born in Naples, Italy, on December 13, 1987. He received his Master's degree in computer science, and a Ph.D. degree in Information and Automation Engineering, from the University of Naples Federico II.nnCurrently, he is an Assistant Professor at the University of Naples Federico II. He is also a member of PRISMA Lab where he is involved in different research projects focused on industrial and service robotics in which he has developed several ROS-based applications integrating robot perception and control.
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Toc

Table of Contents (22) Chapters Close

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

Chapter 7: Exploring the Advanced Capabilities of ROS MoveIt!

In the previous chapter, we covered Robot Operating System (ROS) manipulation and navigation. Similarly, in this chapter, we are going to cover the advanced capabilities of ROS MoveIt!, such as collision avoidance, perception with three-dimensional (3D) sensors, grasping, picking, and placing. After this, we will see how to interface robotic manipulator hardware with MoveIt!.

These are the main topics discussed in this chapter:

  • Motion-planning using the move_group C++ interface
  • Working with perception using MoveIt! and Gazebo
  • Performing object manipulation with MoveIt!
  • Understanding DYNAMIXEL ROS servo controllers for robot hardware interfacing
  • Interfacing a 7-DOF DYNAMIXEL-based robotic arm with ROS MoveIt!

The first topic that we are going to discuss is how to motion-plan our robot using MoveIt! C++ APIs.

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Authors (2)

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Profile icon Lentin Joseph
Lentin Joseph
LinkedIn icon
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.
Read more
See other products by Lentin Joseph
Profile icon Jonathan Cacace
Jonathan Cacace
LinkedIn icon Github icon
Jonathan Cacace was born in Naples, Italy, on December 13, 1987. He received his Master's degree in computer science, and a Ph.D. degree in Information and Automation Engineering, from the University of Naples Federico II. Currently, he is an Assistant Professor at the University of Naples Federico II. He is also a member of PRISMA Lab where he is involved in different research projects focused on industrial and service robotics in which he has developed several ROS-based applications integrating robot perception and control.
Read more
See other products by Jonathan Cacace
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