A Systematic Approach to Learning Robot Programming with ROS

CHAPTER 1

Introduction to ROS: ROS tools and nodes

CONTENTS

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

1.3.1 Simplifying CMakeLists.txt with catkin_simple

1.3.2 Automating starting multiple nodes

1.3.3 Viewing output in a ROS console

1.3.4 Recording and playing back data with rosbag

1.4 Minimal simulator and controller example

1.5 Wrap-up

INTRODUCTION ...