A Systematic Approach to Learning Robot Programming with ROS

CHAPTER 15

An Object-Grabber Package

CONTENTS

15.1 Object-grabber code organization

15.2 Object manipulation query service

15.3 Generic gripper services

15.4 Object-grabber action server

15.5 Example object-grabber action client

15.6 Wrap-Up

INTRODUCTION

Control of robot arms for manipulation incorporates considerable detail. It is desirable to construct solutions that decompose the challenge into separate layers that can encapsulate detail and allow progressively more abstract interaction. ROS capabilities support logical decomposition through mechanisms of the parameter server, publish and subscribe communications between independent nodes, client–service interactions and action servers. Exploiting these capabilities for constructing a general-purpose ...