March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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Exploring the Advanced Capabilities of ROS-MoveIt!
In this chapter, we are going to cover the capabilities of MoveIt!, such as collision avoidance, perception using 3D sensors, grasping, picking, and placing. After this, we will see the interfacing of a robotic manipulator hardware to MoveIt!.
The following are the main topics discussed in this chapter:
- Motion planning of arm using MoveIt! C++ APIs
- Working with collision checking in robot arm using MoveIt!
- Working with perception in MoveIt! and Gazebo
- Understanding grasping using the moveit_simple_grasps ROS package
- Simple robot pick and place using MoveIt!
- Understanding Dynamixel ROS servo controllers for robot hardware interfacing
- Interfacing 7-DOF Dynamixel based robotic arm to ROS MoveIt! ...