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Mastering ROS for Robotics Programming
最新章節：
Index
IfyouarearoboticsenthusiastorresearcherwhowantstolearnmoreaboutbuildingrobotapplicationsusingROS,thisbookisforyou.Inordertolearnfromthisbook,youshouldhaveabasicknowledgeofROS,GNU/Linux,andC++programmingconcepts.ThebookwillalsobegoodforprogrammerswhowanttoexploretheadvancedfeaturesofROS.
目錄(125章)
倒序
- 封面
- 版權頁
- Credits
- About the Author
- 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. Introduction to ROS and Its Package Management
- Why should we learn ROS?
- Why we prefer ROS for robots
- Why some do not prefer ROS for robots
- Understanding the ROS file system level
- Understanding the ROS computation graph level
- Understanding ROS community level
- Questions
- Summary
- Chapter 2. Working with 3D Robot Modeling in ROS
- ROS packages for robot modeling
- Understanding robot modeling using URDF
- Creating the ROS package for the robot description
- Creating our first URDF model
- Explaining the URDF file
- Visualizing the robot 3D model in RViz
- Adding physical and collision properties to a URDF model
- Understanding robot modeling using xacro
- Conversion of xacro to URDF
- Creating the robot description for a seven DOF robot manipulator
- Explaining the xacro model of seven DOF arm
- Creating a robot model for the differential drive mobile robot
- Questions
- Summary
- Chapter 3. Simulating Robots Using ROS and Gazebo
- Simulating the robotic arm using Gazebo and ROS
- Questions
- Summary
- Chapter 4. Using the ROS MoveIt! and Navigation Stack
- Installing MoveIt!
- Generating MoveIt! configuration package using Setup Assistant tool
- Step 1 – Launching the Setup Assistant tool
- Motion planning of robot in RViz using MoveIt! configuration package
- Understanding ROS Navigation stack
- Building a map using SLAM
- Questions
- Summary
- Chapter 5. Working with Pluginlib Nodelets and Gazebo Plugins
- Understanding pluginlib
- Understanding the Gazebo plugins
- Questions
- Summary
- Chapter 6. Writing ROS Controllers and Visualization Plugins
- Understanding pr2_mechanism packages
- Writing a basic real-time joint controller in ROS
- Understanding ros_control packages
- Understanding ROS visualization tool (RViz) and its plugins
- Writing a RViz plugin for teleoperation
- Questions
- Summary
- Chapter 7. Interfacing I/O Boards Sensors and Actuators to ROS
- Understanding the Arduino–ROS interface
- What is the Arduino–ROS interface?
- Interfacing Dynamixel actuators to ROS
- Questions
- Summary
- Chapter 8. Programming Vision Sensors using ROS Open-CV and PCL
- Understanding ROS – OpenCV interfacing packages
- Understanding ROS – PCL interfacing packages
- Interfacing USB webcams in ROS
- Working with ROS camera calibration
- Interfacing Kinect and Asus Xtion Pro in ROS
- Interfacing Intel Real Sense camera with ROS
- Interfacing Hokuyo Laser in ROS
- Interfacing Velodyne LIDAR in ROS
- Working with point cloud data
- Streaming webcam from Odroid using ROS
- Questions
- Summary
- Chapter 9. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
- Introduction to Chefbot- a DIY mobile robot and its hardware configuration
- Questions
- Summary
- Chapter 10. Exploring the Advanced Capabilities of ROS-MoveIt!
- Motion planning using the move_group C++ interface
- Collision checking in robot arm using MoveIt!
- Working with perception using MoveIt! and Gazebo
- Grasping using MoveIt!
- Working with robot pick and place task using MoveIt!
- Pick and place action in Gazebo and real Robot
- Understanding Dynamixel ROS Servo controllers for robot hardware interfacing
- Interfacing seven DOF Dynamixel based robotic arm to ROS MoveIt!
- Questions
- Summary
- Chapter 11. ROS for Industrial Robots
- Understanding ROS-Industrial packages
- Installing ROS-Industrial packages
- Block diagram of ROS-Industrial packages
- Creating URDF for an industrial robot
- Creating MoveIt! configuration for an industrial robot
- Installing ROS-Industrial packages of universal robotic arm
- Understanding the Moveit! configuration of a universal robotic arm
- Working with MoveIt! configuration of ABB robots
- Understanding the ROS-Industrial robot support packages
- ROS-Industrial robot client package
- ROS-Industrial robot driver package
- Understanding MoveIt! IKFast plugin
- Creating the MoveIt! IKFast plugin for the ABB-IRB6640 robot
- Creating the COLLADA file of a robot to work with OpenRave
- Generating the IKFast CPP file for the IRB 6640 robot
- Questions
- Summary
- Chapter 12. Troubleshooting and Best Practices in ROS
- Setting up Eclipse IDE on Ubuntu 14.04.3
- Setting ROS development environment in Eclipse IDE
- Best practices in ROS
- Best practices in the ROS package
- Important troubleshooting tips in ROS
- Questions
- Summary
- Index 更新時間：2021-07-30 10:03:56
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