Book Image

Robot Operating System Cookbook

By : Kumar Bipin
Book Image

Robot Operating System Cookbook

By: Kumar Bipin

Overview of this book

This book will leverage the power of ROS with an introduction to its core and advanced concepts through exciting recipes. You will get acquainted with the use of different synchronous and asynchronous communication methods, including messages, services, and actions. You will learn how to use the various debugging and visualization tools used in development and how to interface sensors and actuators with the ROS framework. Firstly, you will get to grips with ROS simulation frameworks, such as Gazebo and RotorS for modeling and simulating any physical robot and virtual environment. You will also cover mobile robotics, micro-aerial vehicles, and robotic arms, which are the leading branches of robotic applications. Robot Operating System Cookbook will also guide you in the development of an autonomous navigation framework for both mobile robots and micro-aerial vehicles. Finally, you will explore ROS-Industrial, an open source project that extends the advanced capabilities of ROS software to manufacturing industries.
Table of Contents (12 chapters)

ROS-I Robot client package

The ROS-I Robot Client Package provides a standardized interface for controlling industrial robots which are based on the ROS-I Specification. The industrial robot client communicates to the robot controller using the simple_message protocol, where the industrial robot controller must have a server running. The industrial robot client nodes communicate with a compatible server running on a standalone industrial robot controller.

Primarily, this package provides the industrial_robot_client library for robot-specific implementations so that we can reuse code from this library using standard C++ derived-class mechanisms. Moreover, this package also provides generic nodes exposing the base industrial_robot_client functionality. The following web page describes this usage in more detail: http://wiki.ros.org/industrial_robot_client/generic_implementation.

...