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ROS Robotics By Example, Second Edition

ROS Robotics By Example, Second Edition

By : Lentin Joseph, Carol Fairchild, Harman
4.3 (6)
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ROS Robotics By Example, Second Edition

ROS Robotics By Example, Second Edition

4.3 (6)
By: Lentin Joseph, Carol Fairchild, Harman

Overview of this book

ROS is a robust robotics framework that works regardless of hardware architecture or hardware origin. It standardizes most layers of robotics functionality from device drivers to process control and message passing to software package management. But apart from just plain functionality, ROS is a great platform to learn about robotics itself and to simulate, as well as actually build, your first robots. This does not mean that ROS is a platform for students and other beginners; on the contrary, ROS is used all over the robotics industry to implement flying, walking and diving robots, yet implementation is always straightforward, and never dependent on the hardware itself. ROS Robotics has been the standard introduction to ROS for potential professionals and hobbyists alike since the original edition came out; the second edition adds a gradual introduction to all the goodness available with the Kinetic Kame release. By providing you with step-by-step examples including manipulator arms and flying robots, the authors introduce you to the new features. The book is intensely practical, with space given to theory only when absolutely necessary. By the end of this book, you will have hands-on experience on controlling robots with the best possible framework.
Table of Contents (12 chapters)
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11
Index

Chapter 5. Creating Your First Robot Arm (in Simulation)

In this chapter, you will begin to understand the control of robot arms with ROS. We will show a simple three-link, two-joint, articulated robotic arm in simulation. The simulated robot arm, rrbot, has two revolute joints that will help you to understand the operations of a physical robot arm, without the complexities that more joints would create. We will use the URDF elements described in Chapter 2, Creating Your First Two-Wheeled ROS Robot (in Simulation) and incorporate the advantages of Xacro to make our code more modular and efficient. We will also include a mesh design for our gripper, and add control elements for the arm and gripper to our URDF. Next, we will show various ways to control the robot arm in Gazebo.

In this chapter, you will learn the following:

  • The advantages of using Xacro in a URDF
  • Designing a three-link, two-joint robotic arm using Xacro and mesh files
  • Controlling the arm in Gazebo using ROS commands...
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