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

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's 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:

  • The robot_state node: This node is responsible for publishing the robot's current position, status, and so on.
  • The joint_trajectory node: This node subscribes to the robot's command topic and sends the joint position commands to the robot controller via the simple message protocol.

The following figure gives the list of APIs provided by the industrial robot client:

Figure 15.17 – A list of the industrial robot client APIs

We can briefly go through these APIs and their functionalities, as follows...