In this chapter, we have been discussing a new interface of ROS for industrial robots called ROS-Industrial. We have seen the basic concepts in developing the industrial packages and installed it on Ubuntu. After installation, we have seen the block diagram of this stack and started discussing about developing the URDF model for industrial robots and also about creating the MoveIt! interface for an industrial robot. After discussing a lot on these topics, we have installed some industrial robot packages of universal robots and ABB. We have learned the structure of the MoveIt! package and then shifted to the ROS-Industrial support packages. We have discussed in detail and switched onto concepts such as the industrial robot client and about how to create MoveIt! IKFast plugin. In the end, we have used the developed plugin in the ABB robot.

In the next chapter, we look at the troubleshooting and best practices in ROS software development.