Book Image

Mastering ROS for Robotics Programming, Third edition - Third Edition

By : Lentin Joseph, Jonathan Cacace
Book Image

Mastering ROS for Robotics Programming, Third edition - Third Edition

By: Lentin Joseph, Jonathan Cacace

Overview of this book

The Robot Operating System (ROS) is a software framework used for programming complex robots. ROS enables you to develop software for building complex robots without writing code from scratch, saving valuable development time. Mastering ROS for Robotics Programming provides complete coverage of the advanced concepts using easy-to-understand, practical examples and step-by-step explanations of essential concepts that you can apply to your ROS robotics projects. The book begins by helping you get to grips with the basic concepts necessary for programming robots with ROS. You'll then discover how to develop a robot simulation, as well as an actual robot, and understand how to apply high-level capabilities such as navigation and manipulation from scratch. As you advance, you'll learn how to create ROS controllers and plugins and explore ROS's industrial applications and how it interacts with aerial robots. Finally, you'll discover best practices and methods for working with ROS efficiently. By the end of this ROS book, you'll have learned how to create various applications in ROS and build your first ROS robot.
Table of Contents (22 chapters)
1
Section 1 – ROS Programming Essentials
4
Section 2 – ROS Robot Simulation
11
Section 3 – ROS Robot Hardware Prototyping
15
Section 4 – Advanced ROS Programming

Chapter 15: ROS for Industrial Robots

Until now, we have been mainly discussing interfacing personal and research robots with ROS, but some of the main areas where robots are extensively used are in industries such as manufacturing, the automotive industry, and packaging. Does ROS support industrial robots? Are there any companies that use ROS to handle manufacturing processes? ROS-Industrial comes with a solution to interface industrial robot manipulators to ROS and control them using its powerful tools, such as MoveIt, Gazebo, and RViz.

In this chapter, we will discuss the following topics:

  • Understanding and getting started with ROS-Industrial packages
  • Creating a URDF for an industrial robot and interfacing it with MoveIt
  • Working with the MoveIt configuration for a Universal Robots arm and ABB robots
  • Understanding ROS-Industrial robot support packages
  • Understanding ROS-Industrial robot client and driver packages
  • Working with IKFast algorithms...