IoT & Hardware
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You're reading from  Mastering ROS for Robotics Programming

Product typeBook
Published inDec 2015
Reading LevelIntermediate
PublisherPackt
ISBN-139781783551798
Edition1st Edition
Languages
C++
Tools
Ubuntu ServerROS
Concepts
Robotics
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Author (1)
Lentin Joseph
Lentin Joseph
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Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
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Simulating the robotic arm using Gazebo and ROS

In the previous chapter, we designed a seven DOF arm. In this section, we will simulate the robot in Gazebo using ROS.

Before starting with Gazebo and ROS, we should install the following packages to work with Gazebo and ROS.

  • In ROS Jade:

    $ sudo apt-get install ros-jade-gazebo-ros-pkgs ros-jade-gazebo-ros ros-jade-gazebo-msgs ros-jade-gazebo-plugins

  • In ROS Indigo:

    $ sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-msgs ros-indigo-gazebo-plugins ros-indigo-gazebo-ros-control

The use of each package is as follows:

  • gazebo_ros_pkgs: This contains wrappers and tools for interfacing ROS with Gazebo

  • gazebo-msgs: This contains messages and service data structures for interfacing with Gazebo from ROS

  • gazebo-plugins: This contains Gazebo plugins for sensors, actuators, and so on.

  • gazebo-ros-control: This contains standard controllers to communicate between ROS and Gazebo

After installation, check whether the Gazebo is properly installed...

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Mastering ROS for Robotics Programming
Published in: Dec 2015Publisher: PacktISBN-13: 9781783551798
© 2015 Packt Publishing Limited All Rights Reserved

Author (1)

author image
Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
Read more about Lentin Joseph

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