Robot Operating System Cookbook

Getting ready

We'll need a manipulator robot to perform these tasks. We know that a manipulator robot is a kind of robot that is able to physically alter the environment it works in.

A manipulator robot is modeled as a chain of rigid links, which are connected by joints, and which end in what is known as the end-effector of the robot. So, basically, any manipulator is composed of these three elemental parts:

• Links: Rigid pieces that connect the joints of the manipulator
• Joints: Connectors between the links of the manipulator, providing either translational or rotational movement
• End Effector: These include the following:
  • Grippers/tools
  • Grippers/tools with sensors

In the following screenshot, we can have a look at the manipulator robot ...