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

Creating the MoveIt configuration for an industrial robot

The procedure for creating the MoveIt interface for industrial robots is the same as the other ordinary robot manipulators, except for some standard conventions. The following procedure gives a clear idea about these standard conventions:

  1. Launch the MoveIt setup assistant by using the following command:
    roslaunch moveit_setup_assistant setup_assistant.launch
  2. Load the URDF from the robot description folder or convert xacro to URDF and load the setup assistant.
  3. Create a self-collision matrix with Sampling Density of ~ 80,000. This value can increase the accuracy of collision checking in the arm.
  4. Add a virtual joint, as shown in the following screenshot. Here, the virtual and parent frame names are arbitrary:

    Figure 15.2 – Adding MoveIt – virtual joints

  5. In the next step, we are adding planning groups for the manipulator and end effectors. Here, also, the group names are arbitrary...