November 2017
Beginner
484 pages
10h 25m
English
Content preview from ROS Robotics By Example - Second EditionBecome an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
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Summary
This chapter helped you to develop an understanding of how robot arms are modeled and controlled. We created a URDF/SDF for a simple three-link, two-joint robot arm to be used in a Gazebo simulation. Xacro was used to make the URDF/SDF modular and efficient. Mesh files were incorporated into the gripper design to give it a more realistic look. Control plugins and transmission elements were added to the robot model code to enable control of the robot arm in simulation. Then, ROS commands were used via the command-line and rqt tools to control the arm's position in Gazebo.
In Chapter 6, Wobbling Robot Arms Using Joint Control, we will extend our control of robot arms to the 7-DOF dual-armed Baxter. You will learn multiple ways to command ...
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I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.