In this section, we will go through the different steps required to get a robotic arm working with MoveIt! There are several elements that need to be provided beforehand, such as the arm description file (URDF), as well as the components required to make it work in Gazebo, although some of these will be covered in this chapter.
Integrating an arm in MoveIt!
by Lentin Joseph, Aaron Martinez, Enrique Fernandez, Luis Sanchez, Anil Mahtani
ROS Programming: Building Powerful Robots
- Title page
- Copyright and Credits
- Packt Upsell
- Preface
- Effective Robotics Programming with ROS, Third Edition
- Getting Started with ROS
- ROS Architecture and Concepts
- Understanding the ROS Filesystem level
- Understanding the ROS Computation Graph level
- Understanding the ROS Community level
- Tutorials to practise with ROS
- Navigating through the ROS filesystem
- Creating our own workspace
- Creating an ROS package and metapackage
- Building an ROS package
- Playing with ROS nodes
- Learning how to interact with topics
- Learning how to use services
- Using Parameter Server
- Creating nodes
- Building the node
- Creating msg and srv files
- Using the new srv and msg files
- The launch file
- Dynamic parameters
- Summary
- Visualization and Debugging Tools
- Debugging ROS nodes
- Logging messages
- Outputting logging messages
- Setting the debug message level
- Configuring the debugging level of a particular node
- Giving names to messages
- Conditional and filtered messages
- Showing messages once, throttling, and other combinations
- Using rqt_console and rqt_logger_level to modify the logging level on the fly
- Inspecting the system
- Setting dynamic parameters
- Dealing with the unexpected
- Visualizing nodes diagnostics
- Plotting scalar data
- Image visualization
- 3D visualization
- Saving and playing back data
- Using the rqt_gui and rqt plugins
- Summary
- The Navigation Stack - Robot Setups
- The Navigation Stack - Beyond Setups
- Creating a package
- Creating a robot configuration
- Configuring the costmaps - global_costmap and local_costmap
- Creating a launch file for the navigation stack
- Setting up rviz for the navigation stack
- Adaptive Monte Carlo Localization
- Modifying parameters with rqt_reconfigure
- Avoiding obstacles
- Sending goals
- Summary
- Manipulation with MoveIt!
- Using Sensors and Actuators with ROS
- Using a joystick or a gamepad
- Using Arduino to add sensors and actuators
- Using a low-cost IMU - 9 degrees of freedom
- Using the IMU - Xsens MTi
- Using a GPS system
- Using a laser rangefinder - Hokuyo URG-04lx
- Creating a launch file
- Using the Kinect sensor to view objects in 3D
- Using servomotors - Dynamixel
- Summary
- Computer Vision
- Point Clouds
- Mastering ROS for Robotics Programming
- Working with 3D Robot Modeling in ROS
- ROS packages for robot modeling
- Understanding robot modeling using URDF
- Creating the ROS package for the robot description
- Creating our first URDF model
- Explaining the URDF file
- Visualizing the robot 3D model in RViz
- Adding physical and collision properties to a URDF model
- Understanding robot modeling using xacro
- Conversion of xacro to URDF
- Creating the robot description for a seven DOF robot manipulator
- Explaining the xacro model of seven DOF arm
- Creating a robot model for the differential drive mobile robot
- Questions
- Summary
- Simulating Robots Using ROS and Gazebo
- Working with Pluginlib, Nodelets, and Gazebo Plugins
- Understanding pluginlib
- Creating plugins for the calculator application using pluginlib
- Working with pluginlib_calculator package
- Step 1 - Creating calculator_base header file
- Step 2 - Creating calculator_plugins header file
- Step 3 - Exporting plugins using calculator_plugins.cpp
- Step 4 - Implementing plugin loader using calculator_loader.cpp
- Step 5 - Creating plugin description file: calculator_plugins.xml
- Step 6 - Registering plugin with the ROS package system
- Step 7 - Editing the CMakeLists.txt file
- Step 8: Querying the list of plugins in a package
- Step 9 - Running the plugin loader
- Working with pluginlib_calculator package
- Understanding ROS nodelets
- Creating a nodelet
- Step 1 - Creating a package for nodelet
- Step 2 - Creating hello_world.cpp nodelet
- Step 3 - Explanation of hello_world.cpp
- Step 4 - Creating plugin description file
- Step 5 - Adding the export tag in package.xml
- Step 6 - Editing CMakeLists.txt
- Step 7 - Building and running nodelets
- Step 8 - Creating launch files for nodelets
- Creating plugins for the calculator application using pluginlib
- Understanding the Gazebo plugins
- Questions
- Summary
- Understanding pluginlib
- Writing ROS Controllers and Visualization Plugins
- Understanding pr2_mechanism packages
- Writing a basic real-time joint controller in ROS
- Step 1 – Creating controller package
- Step 2 – Creating controller header file
- Step 3 – Creating controller source file
- Step 4 – Explanation of the controller source file
- Step 5 – Creating plugin description file
- Step 6 – Updating package.xml
- Step 7 – Updating CMakeLists.txt
- Step 8 – Building controller
- Step 9 – Writing controller configuration file
- Step 10 – Writing launch file for the controller
- Step 11 – Running controller along with PR2 simulation in Gazebo
- Understanding ros_control packages
- Understanding ROS visualization tool (RViz) and its plugins
- Writing a RViz plugin for teleoperation
- Methodology of building RViz plugin
- Step 1 – Creating RViz plugin package
- Step 2 – Creating RViz plugin header file
- Step 3 – Creating RViz plugin definition
- Step 4 – Creating plugin description file
- Step 5 – Adding export tags in package.xml
- Step 6 – Editing CMakeLists.txt
- Step 7 – Building and loading plugins
- Methodology of building RViz plugin
- Questions
- Summary
- Interfacing I/O Boards, Sensors, and Actuators to ROS
- Understanding the Arduino-ROS interface
- What is the Arduino-ROS interface?
- Understanding the rosserial package in ROS
- Arduino-ROS, example - blink LED and push button
- Arduino-ROS, example - Accelerometer ADXL 335
- Arduino-ROS, example - ultrasonic distance sensor
- Arduino-ROS, example - Odometry Publisher
- Interfacing Non-Arduino boards to ROS
- Setting ROS on Odroid-C1 and Raspberry Pi 2
- How to install an OS image to Odroid-C1 and Raspberry Pi 2
- Connecting to Odroid-C1 and Raspberry Pi 2 from a PC
- Configuring an Ethernet hotspot for Odroid-C1 and Raspberry Pi 2
- Blinking LED using ROS on Odroid-C1 and Raspberry Pi 2
- Push button + blink LED using ROS on Odroid-C1 and Raspberry Pi 2
- Interfacing Dynamixel actuators to ROS
- Questions
- Summary
- Programming Vision Sensors using ROS, Open-CV, and PCL
- Understanding ROS - OpenCV interfacing packages
- Understanding ROS - PCL interfacing packages
- Interfacing USB webcams in ROS
- Working with ROS camera calibration
- Interfacing Kinect and Asus Xtion Pro in ROS
- Interfacing Intel Real Sense camera with ROS
- Interfacing Hokuyo Laser in ROS
- Interfacing Velodyne LIDAR in ROS
- Working with point cloud data
- Streaming webcam from Odroid using ROS
- Questions
- Summary
- Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
- Introduction to Chefbot- a DIY mobile robot and its hardware configuration
- Flashing Chefbot firmware using Energia IDE
- Discussing Chefbot interface packages on ROS
- Computing odometry from encoder ticks
- Computing motor velocities from ROS twist message
- Configuring the Navigation stack for Chefbot
- Configuring the gmapping node
- Configuring the Navigation stack packages
- Understanding AMCL
- Understanding RViz for working with the Navigation stack
- Obstacle avoidance using the Navigation stack
- Working with Chefbot simulation
- Sending a goal to the Navigation stack from a ROS node
- Questions
- Summary
- Introduction to Chefbot- a DIY mobile robot and its hardware configuration
- Exploring the Advanced Capabilities of ROS-MoveIt!
- Motion planning using the move_group C++ interface
- Collision checking in robot arm using MoveIt!
- Working with perception using MoveIt! and Gazebo
- Grasping using MoveIt!
- Working with robot pick and place task using MoveIt!
- Understanding Dynamixel ROS Servo controllers for robot hardware interfacing
- Interfacing seven DOF Dynamixel based robotic arm to ROS MoveIt!
- Questions
- Summary
- ROS for Industrial Robots
- Understanding ROS-Industrial packages
- Installing ROS-Industrial packages
- Block diagram of ROS-Industrial packages
- Creating URDF for an industrial robot
- Creating MoveIt! configuration for an industrial robot
- Installing ROS-Industrial packages of universal robotic arm
- Understanding the Moveit! configuration of a universal robotic arm
- Working with MoveIt! configuration of ABB robots
- Understanding the ROS-Industrial robot support packages
- ROS-Industrial robot client package
- ROS-Industrial robot driver package
- Understanding MoveIt! IKFast plugin
- Creating the MoveIt! IKFast plugin for the ABB-IRB6640 robot
- Creating the COLLADA file of a robot to work with OpenRave
- Generating the IKFast CPP file for the IRB 6640 robot
- Questions
- Summary
- Troubleshooting and Best Practices in ROS
- ROS Robotics Projects
- Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos
- Overview of the project
- Hardware and software prerequisites
- Interfacing Dynamixel with ROS
- Creating face tracker ROS packages
- Working with the face-tracking ROS package
- Understanding the face tracker code
- Understanding CMakeLists.txt
- The track.yaml file
- The launch files
- Running the face tracker node
- The face_tracker_control package
- The pan controller configuration file
- The servo parameters configuration file
- The face tracker controller node
- Creating CMakeLists.txt
- Testing the face tracker control package
- Bringing all the nodes together
- Fixing the bracket and setting up the circuit
- The final run
- Questions
- Summary
- Building a Siri-Like Chatbot in ROS
- Social robots
- Building social robots
- Prerequisites
- Getting started with AIML
- Questions
- Summary
- Controlling Embedded Boards Using ROS
- Teleoperate a Robot Using Hand Gestures
- Object Detection and Recognition
- Deep Learning Using ROS and TensorFlow
- ROS on MATLAB and Android
- Getting started with the ROS-MATLAB interface
- Setting Robotics Toolbox in MATLAB
- Communicating from MATLAB to a ROS network
- Controlling a ROS robot from MATLAB
- Getting started with Android and its ROS interface
- Installing the ROS-Android interface
- Playing with ROS-Android applications
- Code walkthrough
- Creating basic applications using the ROS-Android interface
- Questions
- Summary
- Building an Autonomous Mobile Robot
- Robot specification and design overview
- Designing and selecting the motors and wheels for the robot
- Building 2D and 3D models of the robot body
- Simulating the robot model in Gazebo
- Mathematical model of a differential drive robot
- Designing and building actual robot hardware
- Interfacing robot hardware with ROS
- Gmapping and localization in Chefbot
- Questions
- Summary
- Creating a Self-Driving Car Using ROS
- Getting started with self-driving cars
- Functional block diagram of a typical self-driving car
- GPS, IMU, and wheel encoders
- Camera
- Ultrasonic sensors
- LIDAR and RADAR
- On-board computer
- Software block diagram of self-driving cars
- Simulating the Velodyne LIDAR
- Interfacing Velodyne sensors with ROS
- Simulating a laser scanner
- Explaining the simulation code
- Interfacing laser scanners with ROS
- Simulating stereo and mono cameras in Gazebo
- Interfacing cameras with ROS
- Simulating GPS in Gazebo
- Simulating IMU on Gazebo
- Interfacing IMUs with ROS
- Simulating an ultrasonic sensor in Gazebo
- Low-cost LIDAR sensors
- Simulating a self-driving car with sensors in Gazebo
- Interfacing a DBW car with ROS
- Introducing the Udacity open source self-driving car project
- Questions
- Summary
- Teleoperating a Robot Using a VR Headset and Leap Motion
- Getting started with a VR headset and Leap Motion
- Project prerequisites
- Design and working of the project
- Installing the Leap Motion SDK on Ubuntu 14.04.5
- Visualizing Leap Motion data in Rviz
- Creating a teleoperation node using the Leap Motion controller
- Building a ROS-VR Android application
- Working with the ROS-VR application and interfacing with Gazebo
- Working with TurtleBot simulation in VR
- Troubleshooting the ROS-VR application
- Integrating ROS-VR application and Leap Motion teleoperation
- Questions
- Summary
- Controlling Your Robots over the Web
- Getting started with ROS web packages
- Setting up ROS web packages on ROS Kinetic
- Installing tf2_web_republisher on ROS Kinetic
- Teleoperating and visualizing a robot on a web browser
- Controlling robot joints from a web browser
- Web-based speech-controlled robot
- Running a speech-controlled robot application
- Questions
- Summary
- Bibliography
- Other Books You May Enjoy
Integrating an arm in MoveIt!
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