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)

Understanding the ROS pluginlib

Software plugins are a well-known approach in software applications, and are used as add-ons for the existing application and to provide some new features. Moreover, the plugins enable an infrastructure for the software architecture development to accept new features whenever required. In other words, using this method, which is highly modular, we can enhance the capabilities of the software to any level in the future and deliver this to the user in the form of updates in runtime without modifying the main application.

The software plugins are shared objects (.so) or dynamic link libraries that do not have any dependencies with the main software and are built without having to link to the main application code.

Getting ready

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