Book description
A Systematic Approach to Learning Robot Programming with ROS provides a comprehensive, introduction to the essential components of ROS through detailed explanations of simple code examples along with the corresponding theory of operation. The book explores the organization of ROS, how to understand ROS packages, how to use ROS tools, how to incorporate existing ROS packages into new applications, and how to develop new packages for robotics and automation. It also facilitates continuing education by preparing the reader to better understand the existing on-line documentation.
The book is organized into six parts. It begins with an introduction to ROS foundations, including writing ROS nodes and ROS tools. Messages, Classes, and Servers are also covered. The second part of the book features simulation and visualization with ROS, including coordinate transforms.
The next part of the book discusses perceptual processing in ROS. It includes coverage of using cameras in ROS, depth imaging and point clouds, and point cloud processing. Mobile robot control and navigation in ROS is featured in the fourth part of the book
The fifth section of the book contains coverage of robot arms in ROS. This section explores robot arm kinematics, arm motion planning, arm control with the Baxter Simulator, and an object-grabber package. The last part of the book focuses on system integration and higher-level control, including perception-based and mobile manipulation.
This accessible text includes examples throughout and C++ code examples are also provided at https://github.com/wsnewman/learning_ros
Table of contents
- Cover
- Halftitle
- Title
- Copyright
-
Table of Contents
- List of Figures
- Preface
- Acknowledgments
- Author
-
Section I: ROS Foundations
-
Chapter 1: Introduction to ROS: ROS tools and nodes
- 1.1 Some ROS concepts
-
1.2 Writing ROS nodes
- 1.2.1 Creating ROS packages
- 1.2.2 Writing a minimal ROS publisher
- 1.2.3 Compiling ROS nodes
- 1.2.4 Running ROS nodes
- 1.2.5 Examining running minimal publisher node
- 1.2.6 Scheduling node timing
- 1.2.7 Writing a minimal ROS subscriber
- 1.2.8 Compiling and running minimal subscriber
- 1.2.9 Minimal subscriber and publisher node summary
- 1.3 More ROS tools: catkin_simple, roslaunch, rqt_console, and rosbag
- 1.4 Minimal simulator and controller example
- 1.5 Wrap-up
- Chapter 2: Messages, Classes and Servers
-
Chapter 1: Introduction to ROS: ROS tools and nodes
-
Section II: Simulation and Visualization in ROS
-
Chapter 3: Simulation in ROS
- 3.1 Simple two-dimensional robot simulator
- 3.2 Modeling for dynamic simulation
- 3.3 Unified robot description format
- 3.4 Introduction to Gazebo
- 3.5 Minimal joint controller
- 3.6 Using Gazebo plug-in for joint servo control
- 3.7 Building mobile-robot model
- 3.8 Simulating mobile-robot model
- 3.9 Combining robot models
- 3.10 Wrap-Up
- Chapter 4: Coordinate Transforms in ROS
- Chapter 5: Sensing and Visualization in ROS
-
Chapter 3: Simulation in ROS
- Section III: Perceptual Processing in ROS
- Section IV: Mobile Robots in ROS
- Section V: Robot Arms in ROS
- Section VI: System Integration and Higher Level Control
- Bibliography
- Index
Product information
- Title: A Systematic Approach to Learning Robot Programming with ROS
- Author(s):
- Release date: September 2017
- Publisher(s): Chapman and Hall/CRC
- ISBN: 9781498777872
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