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A Gentle Introduction to ROS

Gentle

Introduction

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A Gentle Introduction to ROS,ROS初级入门资料，介绍的比较系统

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A Gentle Introduction to ROS

Jason M. O’Kane

University of South Carolina

Department of Computer Science and Engineering

315 Main Street

Columbia, SC 29208

http://www.cse.sc.edu/~jokane

This is version 1.2.1(ef03d89), generated on October 15, 2013.

Typeset by the author using L

X and memoir.cls.

ISBN 978-14-92143-23-9

Contents in Brief

Contents in Brief iii

Contents v

1 Introduction 1

In which we introduce ROS, describe how it can be useful, and pre-

view t he remainder of the book.

2 Getting started 9

In which we install ROS, work with some basic ROS concepts, and

interact wit h a working ROS system.

3 Writing ROS programs 33

In which we write ROS programs to publish and sub scribe to mes-

sages.

4 Log messages 55

In which we generate and view log messages.

5 Graph resource names 71

In whic h we lear n how ROS resolves the names of nodes, topics, pa-

rameters, and services.

iii

CONTENTS IN BRIEF

6 Launch ﬁles 79

In which we conﬁgure and run many nodes at once using launch ﬁles.

7 Parameters 101

In which we conﬁgure nodes using parameters.

8 Services 113

In which we call services and respond to service requests.

9 Recording and replaying messages 129

In which we use bag ﬁ les to record a nd replay messages.

10 Conclusion 137

In which we preview some additional topics.

Index 141

Contents

Contents in Brief iii

Contents v

1 Introduction 1

1.1 Why ROS? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Distributed computation . . . . . . . . . . . . . . . . . . . . 2

Software reuse . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Rapid testing . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

ROS is not . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2 What to expect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Chapters and dependencies . . . . . . . . . . . . . . . . . . 5

Intended audience . . . . . . . . . . . . . . . . . . . . . . . 5

1.3 Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.4 Getting more informa tion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Distribution n ames . . . . . . . . . . . . . . . . . . . . . . . 8

Build systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1.5 Looking for wa rd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2 Getting started 9

2.1 Installing ROS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

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A gentle breeze carried the scent of blooming flowers and freshly cut grass as it rustled through the trees. In the distance, a faint sound of music could be heard, adding to the peaceful atmosphere....

3.创建文本文件 FarewellCambridge-txt。内容为: Very quietly I take my leaveAs quietly as I came here;Quietly I wave good byeTo the rosy clouds in the western sky.The golden willows by the riversideAre young brides in the setting sun;Their reflections on the shimmering wavesAlways linger in the depth of my heart.The floating heart growing in the sludgeSways leisurely under the water;In the gentle waves of Cambridge[ would be a water plant!That pool under the shade of elm treesHolds not water but the rainbow from the sky;Shattered to pieces among the duckweedsIs the sediment of a rainbow like dream?To seek a dream? Just to pole a boat upstreamTo where the green grass is more verdant;Or to have the boat fully loaded with starlightAnd sing aloud in the splendor of starlight.But I cannot sing aloud Quietness is my farewell music; Even summer insects heap silence for meSilent is Cambridge tonight! 对于建立的文本文件，使用 read()读文件在屏幕上显示并进行词频统计。

以下是读取文本文件并进行词频统计的代码： ```python # 打开文本文件 with open('FarewellCambridge.txt', 'r') as f: # 读取文件内容 text = f.read() # 将文本按照空格和标点符号分割成单词列表 ...

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The room is illuminated only by the soft light of the computer screen, casting a gentle glow in the otherwise dimly lit night.

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Glorious sunset, such a sight to see Glimmering light, shining bright Giving us strength, through the darkest night Chorus: Gone are the days of sorrow and pain Gleaming hope, that is what we gain ...

write a poem

The rivers flow with a gentle sound, And the mountains rise up from the ground. The birds sing melodies of joy, The animals roam free, without a ploy, The sky is painted with hues of blue, And the ...

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Make sure to do so in a safe and appropriate location, and handle them carefully to avoid injury. Remember that collecting bugs can be a fun and educational hobby, but it's important to do so ...

C:\Users\Gentle\AppData\Local\Temp\ipykernel_6808\4070415186.py:2: FutureWarning: As the xlwt package is no longer maintained, the xlwt engine will be removed in a future version of pandas. This is the only engine in pandas that supports writing in the xls format. Install openpyxl and write to an xlsx file instead. You can set the option io.excel.xls.writer to 'xlwt' to silence this warning. While this option is deprecated and will also raise a warning, it can be globally set and the warning suppressed. data.to_excel('clean_beautymakeup.xls',sheet_name='clean_data') --------------------------------------------------------------------------- ModuleNotFoundError Traceback (most recent call last) Cell In[41], line 2 1 # 保存清理好的数据为Excel格式 ----> 2 data.to_excel('clean_beautymakeup.xls',sheet_name='clean_data') File ~\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.10_qbz5n2kfra8p0\LocalCache\local-packages\Python310\site-packages\pandas\util\_decorators.py:211, in deprecate_kwarg.._deprecate_kwarg..wrapper(*args, **kwargs) 209 else: 210 kwargs[new_arg_name] = new_arg_value --> 211 return func(*args, **kwargs) File ~\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.10_qbz5n2kfra8p0\LocalCache\local-packages\Python310\site-packages\pandas\util\_decorators.py:211, in deprecate_kwarg.._deprecate_kwarg..wrapper(*args, **kwargs) 209 else: 210 kwargs[new_arg_name] = new_arg_value --> 211 return func(*args, **kwargs) File ~\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.10_qbz5n2kfra8p0\LocalCache\local-packages\Python310\site-packages\pandas\core\generic.py:2374, in NDFrame.to_excel(self, excel_writer, sheet_name, na_rep, float_format, columns, header, index, index_label, startrow, startcol, engine, merge_cells, encoding, inf_rep, verbose, freeze_panes, storage_options) 2361 from pandas.io.formats.excel import ExcelFormatter 2363 formatter = ExcelFormatter( 2364 df, 2365 na_rep=na_rep, (...) 2372 inf_rep=inf_rep, 2373 ) -> 2374 formatter.write( ... ---> 48 import xlwt 50 engine_kwargs = combine_kwargs(engine_kwargs, kwargs) 52 if mode == "a": ModuleNotFoundError: No module named 'xlwt'

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string erase

例如，如果我们有一个字符串str = "don't go gentle into the good night"，我们可以使用str.erase(0, 6)来删除从第0个位置开始的6个字符，结果将是"go gentle into the good night"。[1] 第二种用法是erase(first,...

细雨湿青草，柔风轻拂枝，繁星点缀夜，梦回自由时。翻译成英文

The fine rain moistens the grass, the gentle breeze caresses the branches, the stars embellish the night, and the dreams come back to freedom.

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写一篇关于春天、风筝的作文，800字左右。

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细雨湿青草， 柔风轻拂枝， 繁星点缀夜， 梦回自由时。翻译成英文

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细雨湿青草，柔风轻拂枝，繁星点缀夜，梦回自由时。翻译成英文