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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

Summary

In this chapter, we have been discussing a new interface of ROS for industrial robots called ROS-Industrial. We have seen the basic concepts in developing the industrial packages and installed it on Ubuntu. After installation, we have seen the block diagram of this stack and started discussing about developing the URDF model for industrial robots and also about creating the MoveIt! interface for an industrial robot. After discussing a lot on these topics, we have installed some industrial robot packages of universal robots and ABB. We have learned the structure of the MoveIt! package and then shifted to the ROS-Industrial support packages. We have discussed in detail and switched onto concepts such as the industrial robot client and about how to create MoveIt! IKFast plugin. In the end, we have used the developed plugin in the ABB robot.

In the next chapter, we look at the troubleshooting and best practices in ROS software development.

The rest of the chapter is locked

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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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