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

Best practices in ROS


This section gives you a brief idea of the best practices that can be followed when we develop something with ROS. ROS provides detailed tutorials about its QA (Quality Assurance) process. QA process provides a detailed developers guide which mentions C++ and Python code style guides, naming conventions, and so on.

First we can discuss the ROS C++ coding styles.

ROS C++ coding style guide

ROS C++ nodes are following a coding style to make the code more readable, debuggable, and maintainable. If the code is properly styled, it will be very easy to re-use and contribute to the current code. In this section, we can quickly go through some commonly used coding styles.

Standard naming conventions used in ROS

Here we are using the text Helloworld to demonstrate the naming patterns we are using in ROS:

  • HelloWorld: This name starts with an uppercase letter, and each new word starts with an uppercase letter with no space or underscores.

  • helloWorld: In this naming method, the first...