You're reading from Mastering ROS for Robotics Programming, Third edition - Third Edition

Product typeBook

Published inOct 2021

PublisherPackt

ISBN-139781801071024

Edition3rd Edition

Tools

Robot Framework Robot Framework

Concepts

Robotics

Authors (2):

Lentin Joseph

Jonathan Cacace

View More author details

Understanding robot modeling using xacro

The flexibility of URDF reduces when we work with complex robot models. Some of the main features that URDF is missing include simplicity, reusability, modularity, and programmability.

If someone wants to reuse a URDF block 10 times in their robot description, they can copy and paste the block 10 times. If there is an option to use this code block and make multiple copies with different settings, it will be very useful while creating the robot description.

The URDF is a single file and we can't include other URDF files inside it. This reduces the modular nature of the code. All code should be in a single file, which reduces the code's simplicity.

Also, if there is some programmability, such as adding variables, constants, mathematical expressions, and conditional statements in the description language, it will be more user-friendly.

Robot modeling using xacro meets all of these conditions. Some of the main features of xacro...

The rest of the page is locked

You have been reading a chapter from

Mastering ROS for Robotics Programming, Third edition - Third Edition

Published in: Oct 2021Publisher: PacktISBN-13: 9781801071024

Authors (2)

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

Jonathan Cacace

Jonathan Cacace was born in Naples, Italy, on December 13, 1987. He received his Master's degree in computer science, and a Ph.D. degree in Information and Automation Engineering, from the University of Naples Federico II. Currently, he is an Assistant Professor at the University of Naples Federico II. He is also a member of PRISMA Lab where he is involved in different research projects focused on industrial and service robotics in which he has developed several ROS-based applications integrating robot perception and control.
Read more about Jonathan Cacace

Personalised recommendations for you

Based on your interests and search pattern

Architectural Patterns and Techniques for Developing IoT Solutions

This book covers all the patterns and considerations that give you both the power and flexibility to build scalable, secure, and performant IoT solutions by combining various patterns in interesting ways. It also lists the benefits of combining IoT with technologies like blockchain, 3D-printing, 5G, Generative AI, quantum computing, and LLMs.

BookSep 2023304 pages

Arduino Data Communications

Arduino Data Communication focuses on IoT’s Internet aspect, guiding you in setting up your own infrastructure for storing and managing the data collected from sensors. This book goes beyond microcontroller basics, equipping you with the knowledge essential for building real-world projects.

BookNov 2023286 pages5

Arduino IoT Cloud for Developers

From fundamental principles to advanced techniques, this comprehensive book equips you with the knowledge and skills needed to design and deploy IoT applications seamlessly. Explore cloud integration, best practices, and real-world projects to harness the full potential of IoT application development with the Arduino IoT Cloud.

BookNov 2023402 pages

The Azure IoT Handbook

Building IoT Systems with Azure IoT is a comprehensive introduction for those who are new to the Internet of Things and looking to get up to speed in no time. This book will teach you how to create and develop IoT solutions with intelligent edge-to-cloud technologies in the Azure cloud.

BookDec 2023248 pages