You're reading from Mastering ROS for Robotics Programming, Third edition Best practices and troubleshooting solutions when working with ROS

Product type Paperback

Published in Oct 2021

Publisher Packt

ISBN-13 9781801071024

Length 594 pages

Edition 3rd Edition

Languages

C++

Tools

Robot Framework

Concepts

Robotics

Authors (2):

Lentin Joseph

Jonathan Cacace

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Table of Contents (22) Chapters

Preface

1. Section 1 – ROS Programming Essentials

2. Chapter 1: Introduction to ROS FREE CHAPTER

3. Chapter 2: Getting Started with ROS Programming

4. Section 2 – ROS Robot Simulation

5. Chapter 3: Working with ROS for 3D Modeling

6. Chapter 4: Simulating Robots Using ROS and Gazebo

7. Chapter 5: Simulating Robots Using ROS, CoppeliaSim, and Webots

8. Chapter 6: Using the ROS MoveIt! and Navigation Stack

9. Chapter 7: Exploring the Advanced Capabilities of ROS MoveIt!

10. Chapter 8: ROS for Aerial Robots

11. Section 3 – ROS Robot Hardware Prototyping

12. Chapter 9: Interfacing I/O Board Sensors and Actuators to ROS

13. Chapter 10: Programming Vision Sensors Using ROS, OpenCV, and PCL

14. Chapter 11: Building and Interfacing Differential Drive Mobile Robot Hardware in ROS

15. Section 4 – Advanced ROS Programming

16. Chapter 12: Working with pluginlib, nodelets, and Gazebo Plugins

17. Chapter 13: Writing ROS Controllers and Visualization Plugins

18. Chapter 14: Using ROS in MATLAB and Simulink

19. Chapter 15: ROS for Industrial Robots

20. Chapter 16: Troubleshooting and Best Practices in ROS

21. Other Books You May Enjoy

Summary

In this chapter, we mainly replicated what we have already done in the previous chapter with Gazebo, using other robot simulators: CoppeliaSim and Webots. These are multiplatform simulation software programs that integrate different technologies and are very versatile. Thanks to their intuitive UIs, they might be easier to use for new users.

We mainly simulated two robots, one imported using the URDF file of the seven-DOF arm designed in previous chapters, with the other being a popular differential wheeled robot provided by the Webots simulation models. We learned how to interface and control the robot joints of our model with ROS and how to move a differential-drive mobile robot using topics.

In the next chapter, we will see how to interface the robotic arm with the ROS MoveIt package and the mobile robot with the Navigation stack.

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You're reading from Mastering ROS for Robotics Programming, Third edition Best practices and troubleshooting solutions when working with ROS

Table of Contents (22) Chapters

Summary

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Authors (2)

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