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

Generating the IKFast CPP file for the IRB 6640 robot


After getting the link info, we can start generating the IK solver CPP file for handling the IK of this robot.

Use the following command to generate the IK solver for the IRB 6640 robot:

$ python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=irb6640.dae --iktype=transform6d --baselink=1 --eelink=8 --savefile=output_ikfast61.cpp

The preceding command generates a CPP file called output_ikfast61.cpp in which the IK type is transform6d, the position of the baselink is 1, and the end effector link is 8. We need to mention the robot DAE file as the robot argument.

We can test this file using the following procedure:

  1. Download the IKFast demo code file from http://kaist-ros-pkg.googlecode.com/svn/trunk/arm_kinematics_tools/src/ikfastdemo/ikfastdemo.cpp.

  2. Also, copy IKFast.h to the current folder. This file is present in the cloned file of OpenRave. We will get this header from openrave/python.

  3. After getting output_ikfast61...