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Robot Operating System Cookbook by Kumar Bipin

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Getting ready

There are differences among manufacturer interfaces and robot designs. These will require changes to the basic reference implementation provided in the industrial_robot_client library which includes joint-coupling, velocity scaling, and communications protocols.

It is recommended that the developer uses a derived-class approach and, wherever possible, re-implements the required minimal functionality only. This approach will avoid code duplication and maintain consistent operations.

It may be helpful to refer to the library's design at http://wiki.ros.org/industrial_robot_client/design. However, simple joint reordering and renaming can be handled through existing capabilities, as described at http://wiki.ros.org/industrial_robot_client/joint_naming ...

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