Book Image

Mastering ROS for Robotics Programming

By : Lentin Joseph
Book Image

Mastering ROS for Robotics Programming

By: Lentin Joseph

Overview of this book

The area of robotics is gaining huge momentum among corporate people, researchers, hobbyists, and students. The major challenge in robotics is its controlling software. The Robot Operating System (ROS) is a modular software platform to develop generic robotic applications. This book discusses the advanced concepts in robotics and how to program using ROS. It starts with deep overview of the ROS framework, which will give you a clear idea of how ROS really works. During the course of the book, you will learn how to build models of complex robots, and simulate and interface the robot using the ROS MoveIt motion planning library and ROS navigation stacks. After discussing robot manipulation and navigation in robots, you will get to grips with the interfacing I/O boards, sensors, and actuators of ROS. One of the essential ingredients of robots are vision sensors, and an entire chapter is dedicated to the vision sensor, its interfacing in ROS, and its programming. You will discuss the hardware interfacing and simulation of complex robot to ROS and ROS Industrial (Package used for interfacing industrial robots). Finally, you will get to know the best practices to follow when programming using ROS.
Table of Contents (19 chapters)
Mastering ROS for Robotics Programming
Credits
About the Author
About the Reviewers
www.PacktPub.com
Preface
Index

Chapter 12. Troubleshooting and Best Practices in ROS

In the previous chapter, we discussed about ROS-Industrial and worked with motion planning of some industrial robots. In this chapter, we will discuss setting the ROS development environment in Eclipse IDE, best practices in ROS, and troubleshooting tips in ROS. This is the last chapter of this book, so before we start development in ROS, it will be good if we know the standard methods for writing code using ROS. Following are the topics that we are going to discuss in this chapter:

  • Setting the ROS development environment in Eclipse IDE

  • Best practices in ROS

  • Best coding practices in ROS using C++

  • Important troubleshooting tips in ROS

Before start coding in ROS, it will be good if we set ROS development environment in an IDE. Setting an IDE for ROS is not mandatory but it can save developer time. IDEs can provide auto completion features that can make programming easy. We can use any editors such as Sublime and VIM or simply gedit for coding...