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Effective Robotics Programming with ROS

Effective Robotics Programming with ROS

By : Sánchez, Fernandez Perdomo, Mahtani
3.6 (5)
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Effective Robotics Programming with ROS

Effective Robotics Programming with ROS

3.6 (5)
By: Sánchez, Fernandez Perdomo, Mahtani

Overview of this book

Building and programming a robot can be cumbersome and time-consuming, but not when you have the right collection of tools, libraries, and more importantly expert collaboration. ROS enables collaborative software development and offers an unmatched simulated environment that simplifies the entire robot building process. This book is packed with hands-on examples that will help you program your robot and give you complete solutions using open source ROS libraries and tools. It also shows you how to use virtual machines and Docker containers to simplify the installation of Ubuntu and the ROS framework, so you can start working in an isolated and control environment without changing your regular computer setup. It starts with the installation and basic concepts, then continues with more complex modules available in ROS such as sensors and actuators integration (drivers), navigation and mapping (so you can create an autonomous mobile robot), manipulation, Computer Vision, perception in 3D with PCL, and more. By the end of the book, you’ll be able to leverage all the ROS Kinetic features to build a fully fledged robot for all your needs.
Table of Contents (12 chapters)
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11
Index

The MoveIt! architecture


The architecture of MoveIt! is depicted in the following diagram taken from the concepts sections of its official documentation at http://moveit.ros.org/documentation/concepts/. Here, we describe the main concepts in brief. In order to install MoveIt!, you only have to run this command:

$ sudo apt-get install ros-kinetic-moveit-full

Alternatively, you can install all the dependencies of the code that comes with this chapter by running the following command from a workspace that contains it:

$ rosdep install --from-paths src -iy

The following diagram shows the architecture of MoveIt!:

MoveIt! architecture diagram

In the center of the architecture, we have the move_group element. The main idea is that we have to define groups of joints and other elements to perform moving actions using motion planning algorithms. These algorithms consider a scene with objects to interact with and the joints characteristics of the group.

A group is defined using standard ROS tools and...

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