Learning ROS for robotics programming : a practical, instructive, and comprehensive guide to introduce yourself to ROS, the top-notch, leading robotics framework /

The book will take an easy-to-follow and engaging tutorial approach, providing a practical and comprehensive way to learn ROS. If you are a robotic enthusiast who wants to learn how to build and program your own robots in an easy-to-develop, maintainable and shareable way, ""Learning ROS f...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor principal: Martinez, Aaron
Otros Autores: Fatouhi, Duraid
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Birmingham, England : Packt Publishing, 2013.
Temas:
Robots > Programming.
Robots > Programmation.
TECHNOLOGY & ENGINEERING > Engineering (General)
Robots > Programming
Acceso en línea:Texto completo
Tabla de Contenidos:
  • Cover
  • Copyright
  • Credits
  • About the Authors
  • About the Reviewers
  • www.PacktPub.com
  • Table of Contents
  • Preface
  • Chapters 1: Getting Started with ROS
  • Installing ROS Electric using repositories
  • Adding repositories to your sources.list file
  • Setting up your keys
  • Installation
  • The environment setup
  • Installing ROS Fuerte using repositories
  • Configuring your Ubuntu repositories
  • Setting up your source.list file
  • Setting up your keys
  • Installation
  • The environment setup
  • Standalone tools
  • How to install Virtual Box and UbuntuDownloading Virtual Box
  • Creating the virtual machine
  • Summary
  • Chapters 2: The ROS Architecture with Examples
  • Understanding the ROS File system level
  • Packages
  • Stacks
  • Messages
  • Services
  • Understanding the ROS Computation Graph level
  • Nodes
  • Topics
  • Services
  • Messages
  • Bags
  • Master
  • Parameter Server
  • Understanding the ROS Community level
  • Some tutorials to practice with ROS
  • Navigating through the ROS file system
  • Creating our own workspace
  • Creating an ROS package
  • Building an ROS packagePlaying with ROS nodes
  • Learning how to interact with topics
  • Learning how to use services
  • Using the Parameter Server
  • Creating nodes
  • Building the node
  • Creating msg and srv files
  • Using the new srv and msg files
  • Summary
  • Chapters 3: Debugging and Visualization
  • Debugging ROS nodes
  • Using the GDB debugger with ROS nodes
  • Attaching a node to GDB while launching ROS
  • Enabling core dumps for ROS nodes
  • Debugging messages
  • Outputting a debug message
  • Setting the debug message level
  • Configuring the debugging level of a particular nodeGiving names to messages
  • Conditional and filtered messages
  • More messages once, throttle, and combinations
  • Using rosconsole and rxconsole to modify the debugging level on the fly
  • Inspecting what is going on
  • Listing nodes, topics, and services
  • Inspecting the node's graph online with rxgraph
  • When something weird happens roswtf!
  • Plotting scalar data
  • Creating a time series plot with rxplot
  • Other plotting utilities rxtools
  • Visualization of images
  • Visualizing a single imageFirewire cameras
  • Working with stereo vision
  • 3D visualization
  • Visualizing data on a 3D world using rviz
  • The relationship between topics and frames
  • Visualizing frame transformations
  • Saving and playing back data
  • What is a bag file?
  • Recording data in a bag file with rosbag
  • Playing back a bag file
  • Inspecting all the topics and messages in a bag file using rxbag
  • rqt plugins versus rx applications
  • Summary
  • Chapters 4: Using Sensors and Actuators with ROS
  • Using a joystick or gamepad

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