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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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 Sánchez Sánchez
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Sánchez
 Fernandez Perdomo Fernandez Perdomo
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Fernandez Perdomo
 Mahtani Mahtani
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Mahtani
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Table of Contents (18) Chapters Close

Effective Robotics Programming with ROS Third Edition
Credits
About the Authors
About the Reviewer
www.PacktPub.com
Customer Feedback
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

Simulation in ROS


In order to make simulations with our robots in ROS, we are going to use Gazebo.

Gazebo (http://Gazebosim.org/) is a multi-robot simulator for complex indoor and outdoor environments. It is capable of simulating a population of robots, sensors, and objects in a three-dimensional world. It generates both realistic sensor feedback and physically plausible interactions between objects.

Gazebo is now independent from ROS and is installed as a standalone package in Ubuntu. In this section, we will learn how to interface Gazebo and ROS. You will learn how to use the model created before, how to include a laser sensor and a camera, and how to move it as a real robot.

Using our URDF 3D model in Gazebo

We are going to use the model that we designed in the last section, but to make it simple, we won't include the arm.

Make sure that you have Gazebo installed by typing the following command in a terminal:

$ gazebo

Before starting to work with Gazebo, we will install ROS packages to interface...

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