Handbook of Industrial Robotics by Shimon Y. Nof

By Shimon Y. Nof

This can be an engineers instruction manual of analysis and functions in business robotics. It stresses the sensible makes use of instead of the mechanical, electric or computing device issues and discusses particular suggestions for operating with robots in a variety of events. Руководство инженера в индустриальной робототехнике.Рассматриваются практические ситуации я и обсуждаютсяразличные методы при работе с роботами в различных ситуациях.

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Packages are the atomic build item and release item in the ROS software. • Package manifest: The package manifest file is inside a package that contains information about the package, author, license, dependencies, compilation flags, and so on. xml file inside the ROS package is the manifest file of that package. • Meta packages: The term meta package is used for a group of packages for a special purpose. In an older version of ROS such as Electric and Fuerte, it was called stacks, but later it was removed, as simplicity and meta packages came to existence.

The command roscore is a prerequisite before running any ROS node. The following screenshot shows the messages printing when we run the roscore command in a terminal. ros/log folder for collecting logs from ROS nodes. This file can be used for debugging purposes. • In the second section, the command starts a ROS launch file called roscore. xml. When a launch file starts, it automatically starts the rosmaster and ROS parameter server. The roslaunch command is a Python script, which can start rosmaster and the ROS parameter server whenever it tries to execute a launch file.

Advertise("/numbers",10); This will create a topic publisher and name the topic /numbers with a message type std_msgs::Int32. The second argument is the buffer size. It indicates that how many messages need to be put in a buffer before sending. It should be set to high if the data sending rate is high: ros::Rate loop_rate(10); This is used to set the frequency of sending data: while (ros::ok()) { This is an infinite while loop, and it quits when we press Ctrl+C. data = number_count; The first line creates an integer ROS message and the second line assigns an integer value to the message.

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