September 2017
Intermediate to advanced
530 pages
15h 8m
English
Content preview from A Systematic Approach to Learning Robot Programming with ROS
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CHAPTER 15
An Object-Grabber Package
CONTENTS
15.1 Object-grabber code organization
15.2 Object manipulation query service
15.4 Object-grabber action server
15.5 Example object-grabber action client
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 ...
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