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

Summary


In this chapter, we have been discussing a new interface of ROS for industrial robots called ROS-Industrial. We have seen the basic concepts in developing the industrial packages and installed them on Ubuntu. After installation, we have seen the block diagram of this stack, and started discussing developing the URDF model for industrial robots and also creating the MoveIt! interface for an industrial robot. After covering these topics in detail, we installed some industrial robot packages of Universal Robots and ABB. We have learned the structure of the MoveIt! package and then shifted to the ROS-Industrial support packages. We have discussed in detail and switched on to concepts such as the industrial robot client and how to create the MoveIt! IKFast plugin. Finally, we used the developed plugin in the ABB robot.

In the next chapter, we will look at troubleshooting and best practices in ROS software development.