A Systematic Approach to Learning Robot Programming with ROS

III

Perceptual Processing in ROS

INTRODUCTION

Intelligent robot behavior depends on performing actions appropriately in the context of its environment. For example, a mobile robot should avoid collisions and avoid navigating over impassable or dangerous terrain. Robot manipulators should perceive and interpret objects of interest, including object identification and localization, and should plan collisionfree trajectories for part acquisition and manipulation. By perceiving and interpreting the environment, a robot can locate objects of interest or deduce appropriate actions (e.g. putting dishes in a dishwasher or fetching a specified article from a warehouse), as well as generate viable grasp and manipulation plans. Realizing sensor-based ...