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

Working with perception using MoveIt! and Gazebo

Until now, in MoveIt!, we have worked with an arm only. In this section, we will see how to interface 3D vision-sensor data to MoveIt!. The sensor can be either simulated using Gazebo, or you can directly interface a Red-Green-Blue-Depth (RGB-D) sensor, such as Kinect or Intel RealSense, using the openni_launch package. Here, we will work using Gazebo simulation. We will add sensors to MoveIt! to create a map of the environment surrounding the robot. The following command will launch the robot arm and the Asus Xtion pro simulation in Gazebo in a world with obstacles:

roslaunch seven_dof_arm_gazebo seven_dof_arm_obstacle_world.launch 

This command will start the Gazebo scene with arm joint controllers and the Gazebo plugin for the 3D vision sensor. We can add a grasp table and grasp objects to the simulation, as shown in the following screenshot, by simply clicking and dragging them to the workspace. We can create any kind of table...