Book Image

Robot Operating System Cookbook

By : Kumar Bipin
Book Image

Robot Operating System Cookbook

By: Kumar Bipin

Overview of this book

This book will leverage the power of ROS with an introduction to its core and advanced concepts through exciting recipes. You will get acquainted with the use of different synchronous and asynchronous communication methods, including messages, services, and actions. You will learn how to use the various debugging and visualization tools used in development and how to interface sensors and actuators with the ROS framework. Firstly, you will get to grips with ROS simulation frameworks, such as Gazebo and RotorS for modeling and simulating any physical robot and virtual environment. You will also cover mobile robotics, micro-aerial vehicles, and robotic arms, which are the leading branches of robotic applications. Robot Operating System Cookbook will also guide you in the development of an autonomous navigation framework for both mobile robots and micro-aerial vehicles. Finally, you will explore ROS-Industrial, an open source project that extends the advanced capabilities of ROS software to manufacturing industries.
Table of Contents (12 chapters)

ROS-I Robot support packages

The ROS-I Robot Support Packages are modern conventions which are pursued for industrial robots. The major goal of these support packages is to standardize the concepts of maintaining ROS packages for a wide variety of industrial robots that are designed by several vendors and then manufactured.

All official supported packages in ROS-I share a common file and directory layout across all models and all manufacturers.

Getting ready

We have already cloned the ABB robot packages in the previous section, and inside the abb folder, we could see several support packages which support varieties of ABB robots, such as:

  • abb_irb2400_support
  • abb_irb4400_support
  • abb_irb5400_support
  • abb_irb6600_support
  • abb_irb6640_support...