ROS完全参考手册：解析机器人操作系统核心技术

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"ROS The Complete Reference Volume 1 是一本2016年出版的720页的专业书籍，专注于深入解析ROS（Robot Operating System）系统架构和原理，适合ROS的进阶学习者。" ROS（机器人操作系统）是机器人技术领域的重要组成部分，它提供了一个综合的框架，使得机器人开发变得更加模块化和高效。这本书《ROS完全参考手册》第一卷，由Anis Koubaa编辑，是“Studies in Computational Intelligence”系列的一部分，旨在全面介绍ROS的核心概念、工具和实践应用。书中可能涵盖以下几个关键知识点： 1. **ROS基础**：介绍ROS的核心概念，包括节点(Node)、话题(Topic)、服务(Service)、参数(Parameter Server)、包(Package)和工作空间(Workspace)等基本元素，以及它们如何协同工作来构建复杂的机器人系统。 2. **ROS架构**：探讨ROS的层次结构，包括启动流程、消息传递机制、文件系统布局，以及如何通过roscore、roslaunch等工具管理ROS环境。 3. **中间件与通信**：详细讲解ROS的中间件特性，如XML-RPC、ZeroMQ等，以及如何通过Topic和服务实现节点间的异步数据通信。 4. **传感器和执行器接口**：ROS提供了丰富的驱动程序库，如tf变换框架、相机标定工具、激光雷达和IMU等传感器的接口，以及如何编写自己的驱动程序。 5. **编程接口**：介绍ROS的主要编程语言接口，如C++和Python，包括常用API的使用方法，如ros::NodeHandle、ros::Publisher和ros::Subscriber等。 6. **导航与移动规划**：ROS中的navigation stack，包括全球路径规划、局部路径规划、避障策略以及移动机器人控制等。 7. **SLAM（Simultaneous Localization and Mapping）**：ROS中处理SLAM问题的库，如Gmapping、AMCL等，以及如何进行地图构建和定位。 8. **视觉和感知**：ROS在计算机视觉中的应用，如OpenCV接口，以及图像处理和目标检测的节点和包。 9. **开发和调试工具**：介绍rosbag、rqt、rviz等工具的使用，用于数据记录、可视化和调试。 10. **实战案例**：可能包含实际机器人项目或案例研究，展示如何在实际环境中应用ROS。通过这本全面的参考手册，读者可以深入理解ROS的各个方面，从理论到实践，提升对机器人系统的整体把握和开发能力。对于希望在ROS上进行高级开发的工程师和研究人员来说，这本书无疑是宝贵的参考资料。

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6 S. Chitta

• In Python:usingthemoveit_commander package. This API is recommended for

scripting demos and for building applications.

• Through a GUI: using the Motion Planning plugin to Rviz (the ROS visualizer).

This API is recommended for visualization, initial interaction with robots through

MoveIt! and for quick demonstrations.

One of the primary design principles behind MoveIt! is to expose an easy to use

API for beginners to use while retaining access to t he entire underlying API for

more advanced users. MoveIt! users can access any part of the functionality directly

if desired, allowing custom users to modify and architect their own applications.

MoveIt! builds on several component technologies, each of which we will describe

in brief detail.

3.1 Collision Checking

MoveIt! relies on the FCL [3] package for native collision checking. The collision

checking capabilities are implemented using a plugin architecture, allowing any

collision checker to be integrated with MoveIt!. FCL provides a state of the art

implementation of collision checking, including the ability to do continuous collision

checking. Collision checking is often the most expensive part of motion planning,

consuming almost 80–90 % of the time for generating a motion plan. The use of an

Allowed Collision Matrix allows a user to specify which pairs of bodies do

not need to be checked against each other, saving signiﬁcant time. The Allowed

Collision Matrix is automatically conﬁgured by the MoveIt! Setup Assistant but

can also be modiﬁed online by the user.

3.2 Kinematics

MoveIt! utilizes a plugin-based architecture for solving inverse kinematics while

providing a native implementation of forward kinematics. Natively, MoveIt! uses a

numerical solver for inverse kinematics for any robot. Users are free to add their own

custom solvers, in particular analytic solvers are much faster than the native solver.

Examples of analytic solvers that are integrated with MoveIt! include the solver for

the PR2 robot. A popular plugin-based solver for MoveIt! is based on IKFast [4] and

offers analytic solvers for industrial arms that are generated (in code).

3.3 Motion Planning

MoveIt! works with motion planners through a plugin interface. This allows MoveIt!

to communicate with and use different motion planners from multiple libraries,

MoveIt!: An Introduction 7

making MoveIt! easily extensible. The interface to the motion planners is through

a ROS Action or service (offered by the move_group node). The default motion

planners for move_group are conﬁgured using the MoveIt! Setup Assistant. OMPL

(Open Motion Planning Library) is an open-source motion planning library that pri-

marily implements randomized motion planners. MoveIt! integrates directly with

OMPL and uses the motion planners from that library as its primary/default set of

planners. The planners in OMPL are abstract; i.e. OMPL has no concept of a robot.

Instead, MoveIt! conﬁgures OMPL and provides the back-end for OMPL to work

with problems in Robotics.

3.4 Planning Scene

The planning scene is used to represent the world around the robot and also stores

the state of the robot itself. It is maintained by the planning scene monitor inside the

move group node. The planning scene monitor listens to:

• Robot State Information:onthejoint_states topic and using transform informa-

tion from the ROS TF transform tree.

• Sensor Information: using a world geometry monitor that integrates 3D occu-

pancy information and other object information.

• World Geometry Information: from user input or other sources, e.g. from an

object recognition service.

The planning scene interface provides the primary interface for users to modify the

state of the world that the robot operates in.

3.5 3D Perception

3D perception in MoveIt! is handled by the occupancy map monitor. The Occupancy

map monitor uses an Octomap to maintain the occupancy map of the environment.

The Octomap can actually encode probabilistic information about individual cells

although this information is not currently used in MoveIt!. The Octomap can directly

be passed into FCL, the collision checking library that MoveIt! uses. Input to the

occupancy map monitor is from depth images, e.g. from an ASUS Xtion Pro Sensor

or the Kinect 2 sensor. The depth image occupancy map updater includes its own self-

ﬁlter, i.e. it will remove visible parts of the robot from the depth map. It uses current

information about the robot (the robot state) to carry out this operation. Figure 3

shows the architecture corresponding to the 3D perception components in MoveIt!.

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ROS完全参考手册：解析机器人操作系统核心技术

Robot Operating System (ROS) The Complete Reference (Volume 2) 2017

robot operating system complete

Robot Operating System (ROS) The Complete Reference (Volume 1) 2016

ros undefined reference to

ros 1 ros 2

启智 ros用户使用手册

ros1 ros2 共存

humble ros1bag转ros2bag

ros1和ros2如何查看

humble use ros1bag bridge

undefined reference to `ros:

ros2 humble 与ros1 通信

ros1迁移ros2 python

undefined reference:ros::

ros2 humble与ros1通信

ros undefined reference to qt_

ros2和ros1的区别

Resource not found: realsense2_camera ROS path [0]=/opt/ros/melodic/share/ros ROS path [1]=/home/wdr/handeye-calib/src/handeye-calib ROS path [2]=/opt/ros/melodic/share The traceback for the exception was written to the log file

ros2与ros1是否兼容

ros1和ros2通信

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