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Learning ROS for Robotics Programming Second Edition

You're reading from   Learning ROS for Robotics Programming Second Edition Take control of the Linux based Robot Operating System, and discover the tools, libraries, and conventions you need to create your own robots without the hassle.

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Product type Paperback
Published in Aug 2015
Publisher Packt
ISBN-13 9781783987580
Length 458 pages
Edition 1st Edition
Languages
Tools
Concepts
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Authors (2):
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 Mahtani Mahtani
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Mahtani
Aaron Martinez Aaron Martinez
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Aaron Martinez
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Table of Contents (27) Chapters Close

Learning ROS for Robotics Programming Second Edition
Credits
About the Author
Acknowledgments
About the Author
Acknowledgments
About the Author
Acknowledgments
About the Author
Acknowledgments
About the Reviewer
About the Reviewer
Acknowledgments
About the Reviewers
www.PacktPub.com
Preface
1. Getting Started with ROS Hydro FREE CHAPTER 2. ROS Architecture and Concepts 3. Visualization and Debug Tools 4. Using Sensors and Actuators with ROS 5. Computer Vision 6. Point Clouds 7. 3D Modeling and Simulation 8. The Navigation Stack – Robot Setups 9. The Navigation Stack – Beyond Setups 10. Manipulation with MoveIt! Index

Chapter 10. Manipulation with MoveIt!

MoveIt! is a set of tools for mobile manipulation in ROS. The main web page (http://moveit.ros.org) contains documentation, tutorials, and installation instructions as well as example demonstrations with several robotic arms (or robots) that use MoveIt! for manipulation tasks, such as grasping, picking and placing, or simple motion planning with inverse kinematics.

The library incorporates a fast inverse kinematics solver (as part of the motion planning primitives), state-of-the-art algorithms for manipulation, grasping 3D perception (usually in the form of point clouds), kinematics, control, and navigation. Apart from the backend, it provides an easy-to-use GUI to configure new robotic arms with the MoveIt! and RViz plugins to develop motion planning tasks in an intuitive way.

In this chapter, we will see how we can create a simple robotic arm in the URDF format and how we can define motion planning groups with the MoveIt! configuration tool. For a single...

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