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Robot Operating System Cookbook

You're reading from Robot Operating System Cookbook Over 70 recipes to help you master advanced ROS concepts

Product type Paperback

Published in Jun 2018

Publisher Packt

ISBN-13 9781783987443

Length 484 pages

Edition 1st Edition

Languages

C++

Tools

ROS

Concepts

Robotics

Author (1):

Bipin

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Table of Contents (17) Chapters

Title Page

Copyright and Credits

www.PacktPub.com

Contributors

Preface

1. Getting Started with ROS FREE CHAPTER

2. ROS Architecture and Concepts I

3. ROS Architecture and Concepts – II

4. ROS Visualization and Debugging Tools

5. Accessing Sensors and Actuators through ROS

6. ROS Modeling and Simulation

7. Mobile Robot in ROS

8. The Robotic Arm in ROS

9. Micro Aerial Vehicles in ROS

10. ROS-Industrial (ROS-I)

1. Other Books You May Enjoy

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Index

ROS-I Robot support packages

The ROS-I Robot Support Packages are modern conventions which are pursued for industrial robots. The major goal of these support packages is to standardize the concepts of maintaining ROS packages for a wide variety of industrial robots that are designed by several vendors and then manufactured.

All official supported packages in ROS-I share a common file and directory layout across all models and all manufacturers.

Getting ready

We have already cloned the ABB robot packages in the previous section, and inside the abb folder, we could see several support packages which support varieties of ABB robots, such as:

abb_irb2400_support
abb_irb4400_support
abb_irb5400_support
abb_irb6600_support
abb_irb6640_support

Here, we are taking the ABB IRB 2400 model support package called abb_irb2400_support as a case study. The following screenshot shows the top-level directory layout for a robot support package:

ABB IRB 2400 support packages

In short, the config directory contains files...

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Authors (1)

Bipin

Bipin

Kumar Bipin has 15+ years of research and development experience with such world-famous consumer electronics companies as STMicroelectronics and Motorola. He has participated in the research fellowship program at SERC, IISc Bengaluru, earned MS in Robotics and Computer Vision from IIIT, Hyderabad. have been fosters confident in delivering system-level solutions for consumer electronics products, which includes system software, perception planning and control for autonomous vehicle. Currently, he is leading the Autonomous Vehicle Product- Autonomai at Tata Elxsi.

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