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Learning ROS for Robotics Programming（Second Edition）
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Index
Ifyouhaveevertriedbuildingarobot,thenyouknowhowcumbersomeprogrammingeverythingfromscratchcanbe.ThisiswhereROScomesintothepicture.Itisacollectionoftools,libraries,andconventionsthatsimplifiestherobotbuildingprocess.What’smore,ROSencouragescollaborativeroboticssoftwaredevelopment,allowingyoutoconnectwithexpertsinvariousfieldstocollaborateandbuilduponeachother'swork.Packedfullofexamples,thisbookwillhelpyouunderstandtheROSframeworktohelpyoubuildyourownrobotapplicationsinasimulatedenvironmentandshareyourknowledgewiththelargecommunitysupportingROS.Startingatanintroductorylevel,thisbookisacomprehensiveguidetothefascinatingworldofrobotics,coveringsensorintegration,modeling,simulation,computervision,navigationalgorithms,andmore.Youwillthengoontoexploreconceptsliketopics,messages,andnodes.Next,youwilllearnhowtomakeyourrobotseewithHDcameras,ornavigateobstacleswithrangesensors.Furthermore,thankstothecontributionsofthevastROScommunity,yourrobotwillbeabletonavigateautonomously,andevenrecognizeandinteractwithyouinamatterofminutes.What’snewinthisupdatededition?Firstandforemost,wearegoingtoworkwithROSHydrothistimearound.Youwilllearnhowtocreate,visualize,andprocessPointCloudinformationfromdifferentsensors.ThiseditionwillalsoshowyouhowtocontrolandplanmotionofroboticarmswithmultiplejointsusingMoveIt!Bytheendofthisbook,youwillhaveallthebackgroundyouneedtobuildyourownrobotandgetstartedwithROS.
目錄(108章)
倒序
- coverpage
- Learning ROS for Robotics Programming Second Edition
- Credits
- About the Author
- Acknowledgments
- About the Author
- Acknowledgments
- About the Author
- Acknowledgments
- About the Author
- Acknowledgments
- About the Reviewer
- About the Reviewer
- Acknowledgments
- 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
- Summary
- 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
- Summary
- 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
- Summary
- 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
- Summary
- Chapter 6. Point Clouds
- Understanding the point cloud library
- My first PCL program
- Segmentation
- Summary
- 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
- Summary
- 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
- Summary
- 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
- Summary
- Chapter 10. Manipulation with MoveIt!
- The MoveIt! architecture
- Integrating an arm in MoveIt!
- Simple motion planning
- Motion planning with collisions
- The pick and place task
- Summary
- Index 更新時間：2021-07-16 20:46:08
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