Effective ROS机器人编程:中文学习与实践指南

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"Effective-Robotics-Programming-with-ROS——中文学习笔记" 这篇学习笔记主要围绕《Effective Robotics Programming with ROS》一书展开,旨在帮助读者理解和掌握ROS(Robot Operating System)在机器人编程中的应用。ROS是一个开源操作系统,专为开发机器人软件而设计,它提供了许多工具、库和协议,使得编写、测试和部署机器人系统变得更加高效。 在"Effective Robotics Programming with ROS in indigo"部分,笔记介绍了在ROS Indigo版本下的使用经验。ROS Indigo是ROS的一个发行版,发布于2014年,支持Ubuntu 14.04 LTS(Trusty Tahr)。这个部分首先提到了运行官方代码前的环境准备,包括安装一系列必要的ROS包。这些包涵盖了从基本的ROS工具,如`ros-indigo-turtlebot-bringup`和`ros-indigo-turtlebot-create-desktop`,到传感器驱动,如`openni-*`、`freenect-*`和`usb-cam`,再到激光雷达处理、语音识别、SLAM(Simultaneous Localization And Mapping)、遥控操作、移动基础、地图服务器、定位和导航等关键功能的实现。 为了搭建ROS工作区(workspace),笔记指导读者创建一个名为`boo`的目录,这通常是ROS项目组织的基本结构,包含了源码、构建系统以及编译后的可执行文件。创建工作区的命令是`mkdir -p ~/boo`,这会在用户的主目录下创建一个名为`boo`的子目录。 ROS的学习和实践通常涉及到以下几个核心概念: 1. Nodes:ROS中的基本执行单元,负责处理特定任务,如传感器数据处理或控制机器人运动。 2. Topics:节点之间通信的通道,用于发送和接收消息。 3. Messages:在topics上传输的数据结构,定义了节点间交换信息的格式。 4. Services:允许节点请求其他节点执行特定操作的一次性交互。 5. Parameters:全局或节点级别的配置变量,可以在运行时调整。 6. Actions:比topics更复杂的一种通信方式,用于处理异步、长期运行的任务,例如路径规划或目标检测。 通过阅读这份笔记,读者可以了解到如何在ROS Indigo环境下配置和运行代码,以及如何利用ROS的工具和概念来构建复杂的机器人系统。此外,笔记可能还涉及到了调试、模拟、测试和优化等方面的内容,这些都是进行有效机器人编程的关键技能。
2016-12-30 上传
Effective Robotics Programming with ROS - Third Edition English | 27 Dec. 2016 | ISBN: 1786463652 | 468 Pages | AZW3/MOBI/EPUB/PDF (conv) | 59.11 MB Find out everything you need to know to build powerful robots with the most up-to-date ROS About This Book This comprehensive, yet easy-to-follow guide will help you find your way through the ROS framework Successfully design and simulate your 3D robot model and use powerful robotics algorithms and tools to program and set up your robots with an unparalleled experience by using the exciting new features from Robot Kinetic Use the latest version of gazebo simulator, OpenCV 3.0, and C++11 standard for your own algorithms Who This Book Is For This book is suitable for an ROS beginner as well as an experienced ROS roboticist or ROS user or developer who is curious to learn ROS Kinetic and its features to make an autonomous Robot. The book is also suitable for those who want to integrate sensors and embedded systems with other software and tools using ROS as a framework. What You Will Learn Understand the concepts of ROS, the command-line tools, visualization GUIs, and how to debug ROS Connect robot sensors and actuators to ROS Obtain and analyze data from cameras and 3D sensors Use Gazebo for robot/sensor and environment simulation Design a robot and see how to make it map the environment, navigate autonomously, and manipulate objects in the environment using MoveIt! Add vision capabilities to the robot using OpenCV 3.0 Add 3D perception capabilities to the robot using the latest version of PCL In Detail Building and programming a robot can be cumbersome and time-consuming, but not when you have the right collection of tools, libraries, and more importantly expert collaboration. ROS enables collaborative software development and offers an unmatched simulated environment that simplifies the entire robot building process. This book is packed with hands-on examples that will help you program your robot and give you complete solutions using open source ROS libraries and tools. It also shows you how to use virtual machines and Docker containers to simplify the installation of Ubuntu and the ROS framework, so you can start working in an isolated and control environment without changing your regular computer setup. It starts with the installation and basic concepts, then continues with more complex modules available in ROS such as sensors and actuators integration (drivers), navigation and mapping (so you can create an autonomous mobile robot), manipulation, Computer Vision, perception in 3D with PCL, and more. By the end of the book, you'll be able to leverage all the ROS Kinetic features to build a fully fledged robot for all your needs. Style and approach This book is packed with hands-on examples that will help you program your robot and give you complete solutions using ROS open source libraries and tools. All the robotics concepts and modules are explained and multiple examples are provided so that you can understand them easily.