ROS机器人编程:实战指南

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"Programming Robots with ROS 是一本介绍机器人操作系统(ROS)的实践指南,由Morgan Quigley、Brian Gerkey和William D. Smart撰写。本书适用于想要学习如何使用ROS编程的读者,涵盖Python和C++语言。" ROS,全称Robot Operating System(机器人操作系统),是一个开源操作系统框架,专门用于开发和集成机器人应用。本书《Programming Robots with ROS》旨在为初学者提供一个实用的入门指南,帮助他们理解并掌握如何在实际项目中运用ROS。 首先,ROS提供了标准的消息传递机制,使得不同的软件模块可以高效地通信,这对于构建复杂的机器人系统至关重要。书中将详细介绍ROS中的消息类型和话题(topics)、服务(services)以及动作(actions)等概念,这些都是ROS中实现模块间通信的基础。 其次,ROS的包(package)和工作空间(workspace)管理系统使得代码组织和共享变得简单。作者会讲解如何创建、管理和发布ROS包,以及如何设置和构建工作环境,这对于团队协作和项目管理极其有用。 此外,书中会涉及ROS中的节点(nodes)和图形化工具(如rqt和rviz)。节点是ROS中的基本执行单元,它们运行在独立的进程中,并通过ROS的消息系统交换数据。rviz则是一个强大的可视化工具,可以帮助开发者实时监控和调试机器人系统的状态。 在编程语言方面,ROS支持多种语言,但主要以Python和C++为主。书中将详细阐述如何使用这两种语言编写ROS节点,包括编写节点的基本结构、读写传感器数据、控制执行器以及与其他节点交互。 硬件接口是ROS的另一个关键部分,它允许ROS与各种传感器和执行器进行通信。书中会讲解如何使用ROS的驱动程序接口来处理常见的机器人硬件,如摄像头、激光雷达、电机等。 最后,ROS还提供了用于路径规划、导航、感知和控制的库,如MoveIt!和AMCL。作者会介绍这些库的使用方法,帮助读者实现机器人的自主移动和避障功能。 《Programming Robots with ROS》是一本全面而实用的教程,涵盖了从ROS基础知识到高级应用的各个方面,适合机器人技术爱好者、学生和工程师作为学习ROS的参考资料。通过本书的学习,读者可以具备开发、调试和部署ROS系统的技能,为参与机器人项目打下坚实基础。
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.