精通ROS机器人编程实战

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"Mastering ROS for Robotics Programming" 是一本专注于机器人操作系统（ROS）的专著，旨在帮助读者设计、构建和模拟复杂的机器人系统，充分利用ROS的开箱即用功能。 ROS，全称Robot Operating System，是机器人技术领域广泛采用的一个开源操作系统框架。这本书由Lentin Joseph撰写，他是一位在ROS和机器人技术方面有深厚经验的专业人士。书中涵盖了从基础到高级的ROS知识，适合已经有一定编程基础并希望深入理解ROS的读者。 通过阅读本书，读者将能够： 1. **理解ROS核心概念**：学习ROS的架构，包括节点、消息、服务、参数服务器等基本元素，以及如何在这些元素之间建立通信。 2. **安装和配置ROS环境**：了解如何在不同的操作系统上安装ROS，以及如何配置工作空间和源代码管理。 3. **开发ROS节点**：学习编写ROS节点，处理传感器数据，发布和订阅消息，实现机器人控制。 4. **使用ROS包和库**：掌握如何利用ROS提供的大量预先编写好的包和库，如导航堆栈、视觉感知库等，来加速开发进程。 5. **仿真与测试**：学习使用Gazebo进行机器人仿真，测试机器人行为，以及如何使用Rosbag记录和回放数据。 6. **集成硬件**：了解如何将ROS与各种传感器和执行器（如摄像头、激光雷达、电机控制器等）接口，实现硬件集成。 7. **实现复杂任务**：探讨如何使用ROS规划和决策工具来解决路径规划、目标检测和避障等问题。 8. **部署和调试**：学习如何在真实机器人上部署ROS程序，并进行调试和优化。 此外，书中的实例和项目将帮助读者将理论知识应用于实际问题，提升解决机器人系统挑战的能力。尽管作者和出版商已尽力确保书中信息的准确性，但读者在应用所学知识时仍需根据具体情况进行调整和验证。 《Mastering ROS for Robotics Programming》是一本全面而深入的ROS教程，对于想要在机器人领域大展拳脚的开发者来说，它提供了宝贵的指导和实践资源。通过这本书，读者不仅能够掌握ROS的使用，还能进一步提升在机器人系统设计和实现上的专业技能。

Mastering ROS for Robotics Programming - Second Edition[www.rejoiceblog.com].pdf

2019-05-09 上传
Effective Robotics Programming with ROS, Third Edition gives you a comprehensive review of ROS, the Robot Operating System framework, which is used nowadays by hundreds of research groups and companies in the robotics industry. More importantly, ROS is also the painless entry point to robotics for nonprofessionals and students. This book will guide you through the installation process of ROS, and soon enough, you will be playing with the basic tools and understanding the different elements of the framework. The content of the book can be followed without any special devices, and each chapter comes with a series of source code examples and tutorials that you can run on your own computer. This is the only thing you need to follow the book. However, we also show you how to work with hardware so that you can connect your algorithms with the real world. Special care has been taken in choosing devices that are affordable for amateur users, but at the same time, the most typical sensors or actuators in robotics research are covered. Finally, the potential of ROS is illustrated with the ability to work with whole robots in a real or simulated environment. You will learn how to create your own robot and integrate it with a simulation by using the Gazebo simulator. From here, you will have the chance to explore the different aspects of creating a robot, such as perceiving the world using computer vision or point cloud analysis, navigating through the environment using the powerful navigation stack, and even being able to control robotic arms to interact with your surroundings using the MoveIt! package. By the end of the book, it is our hope that you will have a thorough understanding of the endless possibilities that ROS gives you when developing robotic systems.What this book covers Chapter 1, Getting Started with ROS, shows the easiest way you must follow in order to have a working installation of ROS. You will see how to install ROS on different platforms, and you will use ROS Kinetic throughout the rest of the book. This chapter describes how to make an installation from Debian packages, compile the sources, and make installations in virtual machines, Docker, and ARM CPU. Chapter 2, ROS Architecture and Concepts, is concerned with the concepts and tools provided by the ROS framework. We will introduce you to nodes, topics, and services, and you will also learn how to use them. Through a series of examples, we will illustrate how to debug a node and visualize the messages published through a topic. Chapter 3, Visualization and Debugging Tools, goes a step further in order to show you powerful tools to debug your nodes and visualize the information that goes through the node's graph along with the topics. ROS provides a logging API that allows you to diagnose node problems easily. In fact, we will see some powerful graphical tools, such as rqt_console and rqt_graph, as well as visualization interfaces, such as rqt_plot and rviz. Finally, this chapter explains how to record and play back messages using rosbag and rqt_bag. Chapter 4, 3D Modeling and Simulation, constitutes one of the first steps in order to implement your own robot in ROS. It shows you how to model a robot from scratch and run it in simulation using the Gazebo simulator. You will simulate sensors, such as cameras and laser range sensors. This will later allow you to use the whole navigation stack provided by ROS and other tools. Chapter 5, The Navigation Stack – Robot Setups, is the first of two chapters concerned with the ROS navigation stack. This chapter describes how to configure your robot so that it can be used with the navigation stack. In the same way, the stack is explained, along with several examples. Chapter 6, The Navigation Stack – Beyond Setups, continues the discussion of the previous chapter by showing how we can effectively make our robot navigate autonomously. It will use the navigation stack intensively for that. This chapter shows the great potential of ROS using the Gazebo simulator and RViz to create a virtual environment in which we can build a map, localize our robot, and do path planning with obstacle avoidance. Chapter 7, Manipulation with MoveIt!, is a set of tools for mobile manipulation in ROS. This chapter contains the documentation that you need to install this package. The chapter also contains example demonstrations with robotic arms that use MoveIt! for manipulation tasks, such as grasping, picking and placing, or simple motion planning with inverse kinematics. Chapter 8, Using Sensors and Actuators with ROS, literally connects ROS with the real world. This chapter goes through a number of common sensors and actuators that are supported inROS, such as range lasers, servo motors, cameras, RGB-D sensors, and GPS. Moreover, we explain how to use embedded systems with microcontrollers, similar to the widely known Arduino boards. Chapter 9, Computer Vision, shows the support for cameras and computer vision tasks in ROS. This chapter starts with drivers available for FireWire and USB cameras so that you can connect them to your computer and capture images. You will then be able to calibrate your camera using the ROS calibration tools. Later, you will be able to use the image pipeline, which is explained in detail. Then, you will see how to use several APIs for vision and integrate OpenCV. Finally, the installation and usage of a visual odometry software is described. Chapter 10, Point Clouds, shows how to use Point Cloud Library in your ROS nodes. This chapter starts with the basics utilities, such as read or write a PCL snippet and the conversions needed to publish or subscribe to these messages. Then, you will create a pipeline with different nodes to process 3D data, and you will downsample, filter, and search for features using

Mastering_ROS_for_Robotics_Programming.pdf

2017-09-22 上传
ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. ROS is licensed under an open source, BSD license.

Mastering ROS for Robotics Programming.pdf

2018-06-05 上传
Mastering ROS for Robotics Programming.pdf Mastering ROS for Robotics Programming.pdf Mastering ROS for Robotics Programming.pdf

Mastering ROS for Robotics Programming - Second Edition

137 浏览量
《掌握ROS机器人编程——第二版》是一本专为想要深入理解ROS（Robot Operating System，机器人操作系统）的读者准备的专业书籍。ROS是机器人领域最广泛使用的开源操作系统，它为机器人开发提供了一个灵活、强大的...

ROS_Robot_Programming中文版／Mastering ROS for Robotics Programming

2019-03-21 上传
《ROS_Robot_Programming中文版／Mastering ROS for Robotics Programming》这本书旨在帮助初学者和进阶者掌握ROS的核心概念和技术，从而能够有效地进行机器人应用程序的开发。 1. **ROS基础**：ROS为机器人软件...

Mastering ROS for Robotics Programming - First and Second Edition.zip

2021-05-08 上传
该书为开源书籍，本链接提供该书的pdf版及代码包下载。 ...代码链接： ...压缩包包含： Mastering ROS for Robotics Programming, Second Edition and codes Mastering ROS for Robotics Programming, First Edition

mastering ros for robotics programming, 2nd edition

2023-07-27 上传
《ROS机器人编程》还详细介绍了以C++和Python为基础的ROS编程实践，包括如何编写ROS节点、发布和订阅消息、定义和调用ROS服务等。此外，书中还解释了如何组织ROS软件包以及如何使用ROS编译系统进行构建和安装。 ...

Learning ROS for Robotics Programming Second Edition 随书代码

2018-09-11 上传
《Learning ROS for Robotics Programming》第二版是一本专为想要深入理解和掌握ROS（Robot Operating System，机器人操作系统）的读者准备的指南。ROS是一个开源框架，它为机器人系统的开发提供了丰富的工具、库和...

IncompatibleClassChangeError(解决方案).md

2024-12-26 上传
IncompatibleClassChangeError(解决方案).md

中国智慧工地行业市场研究（2023）Word(63页).docx

2024-12-26 上传
智慧工地，作为现代建筑施工管理的创新模式，以“智慧工地云平台”为核心，整合施工现场的“人机料法环”关键要素，实现了业务系统的协同共享，为施工企业提供了标准化、精益化的工程管理方案，同时也为政府监管提供了数据分析及决策支持。这一解决方案依托云网一体化产品及物联网资源，通过集成公司业务优势，面向政府监管部门和建筑施工企业，自主研发并整合加载了多种工地行业应用。这些应用不仅全面连接了施工现场的人员、机械、车辆和物料，实现了数据的智能采集、定位、监测、控制、分析及管理，还打造了物联网终端、网络层、平台层、应用层等全方位的安全能力，确保了整个系统的可靠、可用、可控和保密。 在整体解决方案中，智慧工地提供了政府监管级、建筑企业级和施工现场级三类解决方案。政府监管级解决方案以一体化监管平台为核心，通过GIS地图展示辖区内工程项目、人员、设备信息，实现了施工现场安全状况和参建各方行为的实时监控和事前预防。建筑企业级解决方案则通过综合管理平台，提供项目管理、进度管控、劳务实名制等一站式服务，帮助企业实现工程管理的标准化和精益化。施工现场级解决方案则以可视化平台为基础，集成多个业务应用子系统，借助物联网应用终端，实现了施工信息化、管理智能化、监测自动化和决策可视化。这些解决方案的应用，不仅提高了施工效率和工程质量，还降低了安全风险，为建筑行业的可持续发展提供了有力支持。 值得一提的是，智慧工地的应用系统还围绕着工地“人、机、材、环”四个重要因素，提供了各类信息化应用系统。这些系统通过配置同步用户的组织结构、智能权限，结合各类子系统应用，实现了信息的有效触达、问题的及时跟进和工地的有序管理。此外，智慧工地还结合了虚拟现实（VR）和建筑信息模型（BIM）等先进技术，为施工人员提供了更为直观、生动的培训和管理工具。这些创新技术的应用，不仅提升了施工人员的技能水平和安全意识，还为建筑行业的数字化转型和智能化升级注入了新的活力。总的来说，智慧工地解决方案以其创新性、实用性和高效性，正在逐步改变建筑施工行业的传统管理模式，引领着建筑行业向更加智能化、高效化和可持续化的方向发展。
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