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Effective Robotics Programming with ROS

You're reading from   Effective Robotics Programming with ROS Find out everything you need to know to build powerful robots with the most up-to-date ROS

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Product type Paperback
Published in Dec 2016
Publisher Packt
ISBN-13 9781786463654
Length 468 pages
Edition 3rd Edition
Tools
Concepts
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Authors (3):
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Luis S√°nchez Luis S√°nchez
Author Profile Icon Luis S√°nchez
Luis S√°nchez
Enrique Fernandez Perdomo Enrique Fernandez Perdomo
Author Profile Icon Enrique Fernandez Perdomo
Enrique Fernandez Perdomo
Anil Mahtani Anil Mahtani
Author Profile Icon Anil Mahtani
Anil Mahtani
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Toc

Table of Contents (12) Chapters Close

Preface 1. Getting Started with ROS FREE CHAPTER 2. ROS Architecture and Concepts 3. Visualization and Debugging Tools 4. 3D Modeling and Simulation 5. The Navigation Stack – Robot Setups 6. The Navigation Stack – Beyond Setups 7. Manipulation with MoveIt! 8. Using Sensors and Actuators with ROS 9. Computer Vision 10. Point Clouds Index

My first PCL program

In this section, you will learn how to integrate PCL and ROS. Knowledge and understanding of how ROS packages are laid out and how to compile are required although the steps will be repeated for simplicity. The example used in this first PCL program has no use whatsoever other than serving as a valid ROS node, which will successfully compile.

The first step is to create the ROS package for this entire chapter in your workspace. This package will depend on the pcl_conversions, pcl_ros, pcl_msgs, and sensor_msgs packages:

$ catkin_create_pkg chapter10_tutorials pcl_conversions pcl_ros pcl_msgs sensor_msgs

The following step is to create the source directory in the package using the following commands:

$ rospack profile
$ roscd chapter10_tutorials
$ mkdir src

In this new source directory, you should create a file named pcl_sample.cpp with the following code, which creates a ROS node and publishes a point cloud with 100 elements. Again, what the code does should not really...

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