Packt+ | Advance your knowledge in tech

0

All Products

Best Sellers

New Releases

Books

Videos

Audiobooks

Free Learning

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

View More author details

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

Leave a review - let other readers know what you think

Index

Developing a custom MoveIt! IKFast plugin

In the preceding section, we have learned how to configure the MoveIt! packages with a particular robotic arm to perform motion planning. The MoveIt! package use the default KDL kinematics plugin, which finds IK solutions using a numerical method.

This default numerical IK solver, KDL, is mainly used so that robots have a degree of freedom (DOF > 6), whereas most of the industrial robotic arms have DOF <= 6. Therefore, we can use analytic solvers, which are much faster than numerical solvers.

Getting ready

In this section, we will discuss how to generate an IK solver plugin using IKFast, a powerful inverse kinematics solver provided by the OpenRAVE (http://openrave.org/) motion planning software.

A good example of a robot using IKFast in ROS is the Motoman sia10d, universal robots UR5 and UR10, and ABB robotics IRB 2400.

OpenRAVE installation

The best solution to install OpenRAVE today is to build it from source, which fortunately is not so difficult...

The rest of the chapter is locked

Register for a free Packt account to unlock a world of extra content!

A free Packt account unlocks extra newsletters, articles, discounted offers, and much more. Start advancing your knowledge today.

Unlock this book and the full library FREE for 7 days

Get unlimited access to 7000+ expert-authored eBooks and videos courses covering every tech area you can think of

Start free trial

Renews at $15.99/month. Cancel anytime

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.

See other products by Bipin

Other recommended products

Related to this chapter

Mastering ROS for Robotics Programming

Mastering ROS for Robotics Programming

In today's era, robotics has been gaining a lot of traction in various industries where consistency and perfection matters most. Automation plays a major role in our world, and most of this is achieved via robotic applications and various platforms that support robotics. The Robot Operating System (ROS) is a modular software platform to develop generic robotic applications. This book focuses on the most stable release of ROS (Kinetic Kame), discusses the advanced concepts in robotics, and show you how to program using ROS.

Feb 2018 19h 20m

ROS Robotics By Example

ROS Robotics By Example

The visionaries who created ROS developed a framework for robotics centered on commonality of robotics system to simplify the process of building robots. From the fundamental concepts to advanced practical experience, ROS Robotics By Example, Second Edition will provide you with an incremental knowledge of the ROS framework, the backbone of the robotics evolution. By providing you with step by step examples on mobile arms and flying robots, the authors will introduce you to the new features of the latest ROS version, Kinetic Kame.

Nov 2017 16h 8m

Learning Robotics using Python

Learning Robotics using Python

Learning about robotics will become an essential skill as it will be a ubiquitous part of life. Even though robotics is a complex subject, several other tools along with Python can help you design a project to create an easy-to-use interface. The main aim of the book is to teach you how to build an autonomous mobile robot from scratch.

Jun 2018 9h 20m

ROS Robotics Projects

ROS Robotics Projects

ROS is one of the most widely-used robotics middleware by several industries for building robot-specific applications. This book is an upgrade to the previous edition and introduces you to the latest ROS approaches, basic concepts of ROS-2 and newer ROS packages, with interesting projects and new features added to the previous projects.

Dec 2019 15h 12m

ROS Robotics Projects

ROS Robotics Projects

Robot Operating systems have greatly simplified the way we built robots. This book will help you learn Robot Operating System (ROS) and in applying this knowledge to actual robotics. Packed with great ROS robotics projects this book will help you in getting a clear understanding of the basics and will take you all the way through to an expert level.

Mar 2017 15h 4m

Hands-On ROS for Robotics Programming

Hands-On ROS for Robotics Programming

ROS engineers face many issues while connecting the physical robot to a simulation-built-robot using the ROS infrastructure. This book offers step-by-step practical instructions to use a ROS simulation frame and implement it in your physical robot.

Feb 2020 14h 24m

Personalised recommendations for you

Based on your interests and search pattern

Mastering Embedded Linux Development

Mastering Embedded Linux Development

This comprehensive guide is aimed at those who want to take the leap from low-power microcontrollers to high-speed system-on-chips that can efficiently run Linux. Look no further, this book has everything you need to start your journey.

May 2025 23h 40m

The Embedded Linux Security Handbook

The Embedded Linux Security Handbook

This book will guide you through every step of the development process, from design to building, testing, validation, and ultimately supporting the appliance's lifecycle to strengthen the security of your embedded Linux systems.

Apr 2025 9h 16m