更新时间：2021-06-24 19:06:14
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Contributors
About the authors
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Preface
Who this book is for
What this book covers
To get the most out of this book
Download the example code files
Download the color images
Conventions used
Get in touch
Reviews
Introduction to ROS
Why should we learn ROS?
Why we prefer ROS for robots
Why some do not prefer ROS for robots
Understanding the ROS filesystem level
ROS packages
ROS metapackages
ROS messages
The ROS services
Understanding the ROS computation graph level
ROS nodes
ROS topics
ROS services
ROS bags
The ROS Master
Using the ROS parameter
ROS community level
What are the prerequisites for starting with ROS?
Running the ROS Master and the ROS parameter server
Checking the roscore command output
Questions
Summary
Getting Started with ROS Programming
Creating a ROS package
Working with ROS topics
Creating ROS nodes
Building the nodes
Adding custom msg and srv files
Working with ROS services
Working with ROS actionlib
Creating the ROS action server
Creating the ROS action client
Building the ROS action server and client
Creating launch files
Applications of topics services and actionlib
Maintaining the ROS package
Releasing your ROS package
Preparing the ROS package for the release
Releasing our package
Creating a Wiki page for your ROS package
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 3D robot model in RViz
Interacting with pan-and-tilt joints
Adding physical and collision properties to a URDF model
Understanding robot modeling using xacro
Using properties
Using the math expression
Using macros
Converting xacro to URDF
Creating the robot description for a seven DOF robot manipulator
Arm specification
Type of joints
Explaining the xacro model of the seven DOF arm
Using constants
Including other xacro files
Using meshes in the link
Working with the robot gripper
Viewing the seven DOF arm in RViz
Understanding joint state publisher
Understanding robot state publisher
Creating a robot model for the differential drive mobile robot
Simulating Robots Using ROS and Gazebo
Simulating the robotic arm using Gazebo and ROS
Creating the robotic arm simulation model for Gazebo
Adding colors and textures to the Gazebo robot model
Adding transmission tags to actuate the model
Adding the gazebo_ros_control plugin
Adding a 3D vision sensor to Gazebo
Simulating the robotic arm with Xtion Pro
Visualizing the 3D sensor data
Moving robot joints using ROS controllers in Gazebo
