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

Summary


This chapter offered a brief overview of MoveIt! and the Navigation stack of ROS and demonstrated its capabilities using Gazebo simulation of a robotic arm mobile base. The chapter started with a MoveIt! overview and discussed detailed concepts about MoveIt!. After discussing MoveIt!, we interfaced MoveIt! and Gazebo. After interfacing, we executed the trajectory from MoveIt! on Gazebo.

The next section was about the ROS Navigation stack. We discussed its concepts and workings as well. After discussing the concepts, we tried to interface our robot in Gazebo to the Navigation stack and build a map using SLAM. After doing SLAM, we performed autonomous navigation using AMCL and the static map.

In the next chapter, we will discuss pluginlib, nodelets, and controllers.