更新时间：2021-07-16 20:46:08
coverpage
Learning ROS for Robotics Programming Second Edition
Credits
About the Author
Acknowledgments
About the Reviewer
About the Reviewers
www.PacktPub.com
Support files eBooks discount offers and more
Preface
What this book covers
What you need for this book
Who this book is for
Conventions
Reader feedback
Customer support
Chapter 1. Getting Started with ROS Hydro
PC installation
Installing ROS Hydro – using repositories
How to install VirtualBox and Ubuntu
Installing ROS Hydro in BeagleBone Black (BBB)
Summary
Chapter 2. ROS Architecture and Concepts
Understanding the ROS Filesystem level
Understanding the ROS Computation Graph level
Understanding the ROS Community level
Tutorials to practice with ROS
Chapter 3. Visualization and Debug Tools
Debugging ROS nodes
Logging messages
Inspecting what is going on
Setting dynamic parameters
When something weird happens
Visualizing node diagnostics
Plotting scalar data
Image visualization
3D visualization
Saving and playing back data
Using the rqt_gui and rqt plugins
Chapter 4. Using Sensors and Actuators with ROS
Using a joystick or a gamepad
Using a laser rangefinder – Hokuyo URG-04lx
Using the Kinect sensor to view objects in 3D
Using servomotors – Dynamixel
Using Arduino to add more sensors and actuators
Using an ultrasound range sensor with Arduino
How distance sensors send messages
Using a low-cost IMU – 10 degrees of freedom
Using a GPS system
Chapter 5. Computer Vision
Connecting and running the camera
Writing your own USB camera driver with OpenCV
Calibrating the camera
The ROS image pipeline
ROS packages useful for Computer Vision tasks
Using visual odometry with viso2
Performing visual odometry with an RGBD camera
Computing the homography of two images
Chapter 6. Point Clouds
Understanding the point cloud library
My first PCL program
Segmentation
Chapter 7. 3D Modeling and Simulation
A 3D model of our robot in ROS
Creating our first URDF file
Xacro – a better way to write our robot models
Simulation in ROS
Chapter 8. The Navigation Stack – Robot Setups
The navigation stack in ROS
Creating transforms
Publishing sensor information
Publishing odometry information
Creating a base controller
Creating a map with ROS
Chapter 9. The Navigation Stack – Beyond Setups
Creating a package
Creating a robot configuration
Configuring the costmaps – global_costmap and local_costmap
Creating a launch file for the navigation stack
Setting up rviz for the navigation stack
Adaptive Monte Carlo Localization
Modifying parameters with rqt_reconfigure
Avoiding obstacles
Sending goals
