Robot Operating System Cookbook

Getting ready

One of the primary goals of ROS-I is facilitating interoperability among robots from different vendors by integrating their control with the common ROS framework. These different ROS control nodes all utilize a common set of interfaces for control and feedback. Also, ROS-I has provided the guidelines for specific ROS interfaces to ensure maximum compatibility.

First of all, we will discuss how the robot should be expected to respond to high-level operational activities:

• Initialization: The ROS node should automatically initialize all connections to the robot controller, and the robot startup should make the controller program run automatically.
• Communications: Both the ROS node and the robot controller program must handle the ...