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

Installing ROS-Industrial packages

The main repository of ROS-Industrial packages can be found at the following link: https://github.com/ros-industrial. In this repository, developers can find different packages used to interface their ROS system with typical industrial tools and devices, such as Programmable Logic Controller (PLC), or directly communicate with the hardware driver of popular industrial manipulators such as Kuka, abb, or Fanuc. Apart from this, the main repository for ROS-Industrial resources is the industrial_core stack, which can be downloaded from the following Git repository:

git clone https://github.com/ros-industrial/industrial_core

This repository is still under development to assure full compatibility with ROS Noetic. However, the industrial-core stack includes the following set of ROS packages:

  • industrial-core: This stack contains packages and libraries for supporting industrial robotic systems. The package consists of nodes for communicating...