February 2018
Beginner
580 pages
13h 20m
English
Content preview from Mastering ROS for Robotics Programming - Second Edition
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Step 3 – Adding virtual joints
Virtual joints attach the robot to the world. They are not mandatory for a static robot which does not move. We need virtual joints when the base position of the arm is not fixed. For example, if a robot arm is fixed on a mobile robot, we should define a virtual joint with respect to the odometry frame (odom).
In the case of our robot, we are not creating virtual joints.