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

ROS-Industrial robot client package


The industrial robot client nodes are responsible for sending robot position/trajectory data from ROS MoveIt! to the industrial robot controller. The industrial robot client converts the trajectory data to simple_message and communicates to the robot controller using the simple_message protocol. The industrial robot controller running a server and industrial robot client nodes are connecting to this server and start communicating with this server.

Designing industrial robot client nodes

The industrial_robot_client package contains various classes to implement industrial robot client nodes. The main functionalities that a client should have include updating the robot current state from the robot controller, and also sending joint position messages to the controller. There are two main nodes that are responsible for getting the robot state and sending joint position values:

  • Therobot_statenode: This node is responsible for publishing the robot's current position...