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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

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Product type Paperback
Published in Dec 2015
Publisher Packt
ISBN-13 9781783551798
Length 480 pages
Edition 1st Edition
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Author (1):
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Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
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Table of Contents (14) Chapters Close

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

Writing a RViz plugin for teleoperation


In this chapter, we design a teleoperation commander in which we can manually enter the teleoperation topic, linear velocity, and angular velocity, as shown in the following:

Figure 7: RViz teleop plugin

The following is a detailed procedure to build this plugin.

Methodology of building RViz plugin

Before starting to build this plugin, we should know how to do it. The standard method to build a ROS plugin is applicable for this plugin too. The difference is that the RViz plugin is GUI based. The RViz is written using a GUI framework called Qt, so we need to create a GUI in Qt, and using Qt APIs, we have get the GUI values and send them to the ROS system.

The following steps describe how this teleoperation RViz plugin is going to work:

  • The dockable panel will have a Qt GUI interface and the user can input the topic, linear velocity, and angular velocity of teleoperation from the GUI.

  • Collect the user input from GUI using Qt signals/slots and publish the values...

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