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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How the ROS controller interacts with Gazebo
Let's see how a ROS controller interacts with Gazebo. The following figure shows the interconnection of the ROS controller, robot hardware interface, and simulator/real hardware:
Figure 6 : Interacting ROS controllers with Gazebo
We can see the third-party tool such as navigation and MoveIt packages. These packages can give the goal (set point) to the mobile robot controllers and robotic arm controllers. These controllers can send the position, velocity, or effort to the robot hardware interface.
The hardware interface allocates each resource for the controllers and sends values to each resource. ...