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A Systematic Approach to Learning Robot Programming with ROS by Wyatt Newman

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CHAPTER 17

Mobile Manipulation

CONTENTS

17.1 Mobile manipulator model

17.2 Mobile manipulation

17.3 Wrap-Up

INTRODUCTION

Mobile manipulation can be illustrated by combining the Baxter model with our previous mobot mobile platform. The mobile manipulator can then take advantage of all of the developments presented in sections III (perception), IV (mobility) and V (manipulation).

17.1 Mobile manipulator model

 

The mobile-manipulator model is contained in the file baxteronmobot.xacro in the package baxtervariations. The contents of this model file are:

image

This model brings together a mobile base model (mobotbase.xacro), the Baxter model,

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