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ROS Robotics By Example, Second Edition

You're reading from   ROS Robotics By Example, Second Edition Learning to control wheeled, limbed, and flying robots using ROS Kinetic Kame

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Product type Paperback
Published in Nov 2017
Publisher Packt
ISBN-13 9781788479592
Length 484 pages
Edition 2nd Edition
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Concepts
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Authors (3):
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Dr. Thomas L. Harman Dr. Thomas L. Harman
Author Profile Icon Dr. Thomas L. Harman
Dr. Thomas L. Harman
Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
Carol Fairchild Carol Fairchild
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Carol Fairchild
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Toc

Table of Contents (12) Chapters Close

Preface 1. Getting Started with ROS 2. Creating Your First Two-Wheeled ROS Robot (in Simulation) FREE CHAPTER 3. Driving Around with TurtleBot 4. Navigating the World with TurtleBot 5. Creating Your First Robot Arm (in Simulation) 6. Wobbling Robot Arms Using Joint Control 7. Making a Robot Fly 8. Controlling Your Robots with External Devices 9. Flying a Mission with Crazyflie 10. Controlling Baxter with MATLAB© Index

Features of Xacro

Xacro is the XML macro language for ROS. Xacro provides a set of macro operations to replace some repetitive statements with shorter, concise macros that will expand into full XML statements when processed. Xacro can be used with any XML document, but is most useful with long, complex URDF files. Xacro allows you to create shorter and more readable XML files for the robot URDF. Xacro provides advantages in many different areas:

  • Properties and property blocks: If repeated information is used in a URDF/SDF file, the <property> tag can be used to specify these constant values in a central location. Property blocks are snippets that can contain one or more XML definitions. These are typically parameters that can be changed later. Properties and property blocks are usually declared at the beginning of the file, although this is not required. They can be found anywhere in the XML file at any level. It does not matter whether the property declaration is before or after...
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