Book Image

Mastering ROS for Robotics Programming - Second Edition

By : Jonathan Cacace, Lentin Joseph
Book Image

Mastering ROS for Robotics Programming - Second Edition

By: Jonathan Cacace, Lentin Joseph

Overview of this book

In this day and age, robotics has been gaining a lot of traction in various industries where consistency and perfection matter. Automation is achieved via robotic applications and various platforms that support robotics. The Robot Operating System (ROS) is a modular software platform to develop generic robotic applications. This book focuses on the most stable release of ROS (Kinetic Kame), discusses advanced concepts, and effectively teaches you programming using ROS. We begin with aninformative overview of the ROS framework, which will give you a clear idea of how ROS works. During the course of this book, you’ll learn to build models of complex robots, and simulate and interface the robot using the ROS MoveIt! motion planning library and ROS navigation stacks. Learn to leverage several ROS packages to embrace your robot models. After covering robot manipulation and navigation, you’ll get to grips with the interfacing I/O boards, sensors, and actuators of ROS. Vision sensors are a key component of robots, and an entire chapter is dedicated to the vision sensor and image elaboration, its interface in ROS and programming. You’ll also understand the hardware interface and simulation of complex robots to ROS and ROS Industrial. At the end of this book, you’ll discover the best practices to follow when programming using ROS.
Table of Contents (22 chapters)
Title Page
Copyright and Credits
www.PacktPub.com
Contributors
Preface
Index

Chapter 15. Troubleshooting and Best Practices in ROS

In this chapter, we will discuss how to set up an Integrated Development Environment (IDE) with ROS, 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 the code. The following are the topics that we are going to discuss in this chapter:

  • Using RoboWare Studio IDE with ROS
  • Best practices in ROS
  • Best coding practices in ROS using C++
  • Important troubleshooting tips in ROS

Before we start coding in ROS, it will be good if we set up a ROS development environment in an IDE. Setting up an IDE for ROS is not mandatory, but it can save developers time. IDEs can provide auto completion features, as well as building and debugging tools that can make programming easy. We can use any editor, such as Sublime and VIM, or simply Gedit for coding in ROS, but it will be good if you choose IDEs when you are planning a...