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A Systematic Approach to Learning Robot Programming with ROS by Wyatt Newman

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I

ROS Foundations

INTRODUCTION

This section introduces the foundations of the robot operating system (ROS), beginning with essential concepts, tools and constructs. Creation and use of ROS packages, nodes and tools are demonstrated. Basics of ROS communications covering publishers and subscribers, services and clients, action servers and action clients, and parameter servers are introduced. These elements introduce the essence of ROS as a precursor to discussions of robotic specifics.

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