In this chapter, we mainly looked at the importance of robot modeling and how we can model a robot in ROS. We talked more about the robot_model
meta package and the packages inside robot_model
, such as urdf
, xacro
, and joint_state_publisher
. We discussed URDF, xacro, and the main URDF tags that we are going to use. We also created a sample model in URDF and xacro and discussed the difference between the two. After that, we created a complex robotic manipulator with seven DOF and looked at the usage of the joint state publisher
and robot state publisher
packages. Towards the end of the chapter, we reviewed the designing procedure of a differential drive mobile robot using xacro. In the next chapter, we will look at the simulation of these robots using Gazebo.
Mastering ROS for Robotics Programming - Second Edition
By :
Mastering ROS for Robotics Programming - Second Edition
By:
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
Free Chapter
Introduction to ROS
Getting Started with ROS Programming
Working with 3D Robot Modeling in ROS
Simulating Robots Using ROS and Gazebo
Simulating Robots Using ROS and V-REP
Using the ROS MoveIt! and Navigation Stack
Working with pluginlib, Nodelets, and Gazebo Plugins
Writing ROS Controllers and Visualization Plugins
Interfacing I/O Boards, Sensors, and Actuators to ROS
Programming Vision Sensors Using ROS, Open CV, and PCL
Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
Exploring the Advanced Capabilities of ROS-MoveIt!
Using ROS in MATLAB and Simulink
ROS for Industrial Robots
Troubleshooting and Best Practices in ROS
Other Books You May Enjoy
Index
Customer Reviews