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You're reading from Mastering ROS for Robotics Programming Design, build, and simulate complex robots using the Robot Operating System

Product type Paperback

Published in Feb 2018

Publisher Packt

ISBN-13 9781788478953

Length 580 pages

Edition 2nd Edition

Languages

C++

Tools

ROS

Concepts

Design

Authors (2):

Lentin Joseph

Jonathan Cacace

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Table of Contents (22) Chapters

Title Page

www.PacktPub.com

Contributors

Preface

1. Introduction to ROS FREE CHAPTER

2. Getting Started with ROS Programming

3. Working with 3D Robot Modeling in ROS

4. Simulating Robots Using ROS and Gazebo

5. Simulating Robots Using ROS and V-REP

6. Using the ROS MoveIt! and Navigation Stack

7. Working with pluginlib, Nodelets, and Gazebo Plugins

8. Writing ROS Controllers and Visualization Plugins

9. Interfacing I/O Boards, Sensors, and Actuators to ROS

10. Programming Vision Sensors Using ROS, Open CV, and PCL

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

12. Exploring the Advanced Capabilities of ROS-MoveIt!

13. Using ROS in MATLAB and Simulink

14. ROS for Industrial Robots

15. Troubleshooting and Best Practices in ROS

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Index

Creating the MoveIt! IKFast plugin for the ABB IRB 6640 robot

We have seen the MoveIt! package for the ABB robot IRB 6640 model. This robot works with a default numerical solver. In this section, we will discuss how to generate an IK solver plugin using IKFast, a powerful inverse kinematics solver provided within Rosen Diankov's OpenRAVE motion planning software. At the end of this section, we can run the MoveIt! demo of this robot, using our custom inverse kinematic plugin.

In short, we will build an IKFast MoveIt! plugin for robot ABB IRB 66400. This plugin can be selected during the MoveIt! setup wizard or we can mention it in the config/kinematics.yaml file of the moveit-config package.