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

Motion planning using the move_group C++ interface


In Chapter 4, Using the ROS MoveIt! and Navigation Stack, we discussed about how to interact with a robot arm and how to plan its path using MoveIt! RViz motion planning plugin. In this section, we will see how to program the robot motion using the move_group C++ APIs. Motion planning using RViz can also be done programmatically through the move_group C++ APIs.

The first step to start working with C++ APIs is to create another ROS package that has the MoveIt! packages as dependencies. You can get an existing package seven_dof_arm_test from chapter_10_codes/. We can create this same package using the following command:

$ catkin_create_pkg seven_dof_arm_test catkin cmake_modules interactive_markers moveit_core moveit_ros_perception moveit_ros_planning_interface pluginlib roscpp std_msgs

Motion planning a random path using MoveIt! C++ APIs

The first example that we are going to see is random motion planning using MoveIt! C++ APIs. You will get...