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.
Read more about Lentin Joseph

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Installing MoveIt!

Let's start with installing MoveIt!. The installation procedure is very simple and is just a single command.

Installing MoveIt! on ROS Indigo can be done using the following command. Here we are installing MoveIt! binary packages.

$ sudo apt-get install ros-indigo-moveit-full

In ROS Jade, we can install MoveIt! using the following command:

$ sudo apt-get install ros-jade-moveit-ros ros-jade-moveit-plugins ros-jade-moveit-planners

MoveIt! architecture

Let's start with MoveIt! and its architecture. Understanding the architecture of MoveIt! helps to program and interface the robot to MoveIt!. We will quickly go through the architecture and the important concepts of MoveIt!, and start interfacing and programming our robots.

Here is the MoveIt! architecture, included in their official web page at http://moveit.ros.org/documentation/concepts:

Figure 1: MoveIt! architecture diagram

The move_group node

We can say that move_group is the heart of MoveIt! as this node acts as an integrator...

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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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