Complete Guide- Making a hardware interface for MoveIt

Complete Guide: Making a hardware interface for MoveIt, available at $54.99, has an average rating of 3.4, with 14 lectures, based on 43 reviews, and has 300 subscribers.

You will learn about High-Level Overview of Moveit MoveIt Setup Assistant Understanding ROS Control Create your own Hardware Interface This course is ideal for individuals who are Robot enthusiast or Robot developer or Robotics Engineer or College Students studying robotics It is particularly useful for Robot enthusiast or Robot developer or Robotics Engineer or College Students studying robotics.

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Summary

Title: Complete Guide: Making a hardware interface for MoveIt

Price: $54.99

Average Rating: 3.4

Number of Lectures: 14

Number of Published Lectures: 14

Number of Curriculum Items: 14

Number of Published Curriculum Objects: 14

Original Price: $19.99

Quality Status: approved

Status: Live

What You Will Learn

High-Level Overview of Moveit

MoveIt Setup Assistant

Understanding ROS Control

Create your own Hardware Interface

Who Should Attend

Robot enthusiast

Robot developer

Robotics Engineer

College Students studying robotics

Target Audiences

Robot enthusiast

Robot developer

Robotics Engineer

College Students studying robotics

This course is designed for students with some ROS experience and who are wanting to use ROS to control a robotic arm. This course teaches how to actually use MoveIt – from start to finish- with a real robot arm. This is the most comprehensive course on creating a hardware interface to enable real robots to work seamlessly with MoveIt.

I begin with the basics of the MoveIt Setup Assistant, which is a simple wizard application for describing the physical characteristics of your actual robot to the MoveIt software. I then use a templated approach to creating a custom hardware interface built with ROS Control.  This hardware interface provides the direct link between ROS and the real robot by leveraging ROS Control’s ability to transform MoveIt path planning into real-time joint commands.

This course has been developed using a industrial Aubo robot which is directly interfaced to and Arduino type microcontroller. Because of the Arduino interface, this course is directly applicable to any robot – wether it is industrial or DIY – that can be controlled using a series joint commands.

I have created this course because when I was working through the process of using MoveIt with an actual robot, I was surprised that there is almost no documentation that walks you through the entire process. This course is my attempt to fill this need.

Course Curriculum

Chapter 1: Introduction and Setup

Lecture 1: Introduction

Lecture 2: Using the MoveIt Setup Assistant

Chapter 2: Creating a hardware interface

Lecture 1: ROS Control and Hardware Interface Overview

Lecture 2: Hardware Interface Installation and Overview

Lecture 3: Creating your custom H.W. Interface package

Lecture 4: Creating the Hardware Interface Class

Lecture 5: Creating Main and Compiling

Lecture 6: Adding Custom Messages for Robot Hardware Control

Lecture 7: Creating the Read and Write Functions to the H.w. Interface

Lecture 8: Configuration and Launch Files

Lecture 9: Setting up RVIZ for MoveIt

Chapter 3: Modifying the H.W Interface for the Real Robot

Lecture 1: Hardware Interface Robot Demo

Lecture 2: Buffering for Communication Stability

Lecture 3: Configuring Velocities for Real Robot Deployment

Instructors

Stephen Zuccaro
Robotics Engineer

Rating Distribution

1 stars: 4 votes

2 stars: 1 votes

3 stars: 4 votes

4 stars: 17 votes

5 stars: 17 votes

Frequently Asked Questions

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You can view and review the lecture materials indefinitely, like an on-demand channel.

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