ROS机器人编程入门指南：实战教程

5星 · 超过95%的资源需积分: 10 51 浏览量更新于2024-07-23 收藏 10.05MB PDF 举报

"《学习机器人操作系统（ROS）编程指南》是一本实用、富有启发性和全面的教程，旨在帮助读者入门ROS——这一卓越且领先的机器人开发框架。本书由Aaron Martinez和Enrique Fernández共同编著，由Packt Publishing出版。它提供了丰富的实践案例和理论讲解，适合那些对机器人技术感兴趣并希望掌握ROS的开发者。该书内容覆盖了ROS的基础概念、架构、消息传递系统、节点设计、传感器集成、以及ROS在实际项目中的应用。通过对ROS的核心组件如话题（Topics）、服务（Services）、参数服务器（Parameter Server）和动作库（Action Server）的深入剖析，读者能够逐步建立起对ROS工作原理的理解。此外，书中还包含了如何使用ROS开发工具如rqt、roslaunch和ROS包管理系统的教程，确保学习者能够熟练地进行开发和部署。值得注意的是，由于版权原因，未经Packt Publishing事先书面许可，任何部分的内容均不得复制、存储或通过任何形式或媒介进行传播。尽管作者和出版社已经尽力确保书中信息的准确性，但本书提供的所有内容并不构成任何形式的保证，包括明示或默示的质保。对于因本书引起的直接或间接损害，作者和Packt Publishing及其经销商概不负责。 Packt Publishing在书中正确使用了商标标识，以尊重所有提及的公司和产品的知识产权。这本教材不仅适合初学者，也是经验丰富的开发者的参考手册，帮助他们在日益复杂的机器人技术领域保持竞争力。《Learning ROS for Robotics Programming》是一本值得投入时间和精力的指南，无论是想踏入机器人领域的新手，还是寻求提升现有技能的工程师，都能从中受益匪浅。通过阅读和实践，读者将能够有效地利用ROS进行高效、灵活的机器人编程，推动创新与进步。"

Table of Contents

[ v ]

Running the viso2 online demo 210

Running viso2 with our low-cost stereo camera 213

Summary 214

Chapter 7: Navigation Stack – Robot Setups 215

The navigation stack in ROS 216

Creating transforms 217

Creating a broadcaster 218

Creating a listener 218

Watching the transformation tree 221

Publishing sensor information 222

Creating the laser node 223

Publishing odometry information 226

How Gazebo creates the odometry 227

Creating our own odometry 230

Creating a base controller 234

Using Gazebo to create the odometry 236

Creating our base controller 238

Creating a map with ROS 241

Saving the map using map_server 243

Loading the map using map_server 244

Summary 245

Chapter 8: Navigation Stack – Beyond Setups 247

Creating a package 248

Creating a robot conguration 248

Conguring the costmaps (global_costmap) and (local_costmap) 251

Conguring the common parameters 251

Conguring the global costmap 253

Conguring the local costmap 253

Base local planner conguration 254

Creating a launch le for the navigation stack 255

Setting up rviz for the navigation stack 256

2D pose estimate 257

2D nav goal 258

Static map 258

Particle cloud 259

Robot footprint 260

Obstacles 261

Inated obstacles 262

www.it-ebooks.info

Preface

[ 2 ]

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 different

distributions of ROS, and you will use ROS Fuerte in the rest of the book. How to

make an installation from Debian packages or compiling the sources, as well as

making installations in virtual machines, have been described in this chapter.

Chapter 2, The ROS Architecture with Examples, 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 or visualize the messages published through a topic.

Chapter 3, Debugging and Visualization, goes a step further in order to show you

powerful tools for debugging your nodes and visualize the information that goes

through the node's graph along with the topics. ROS provides a logging API which

allows you to diagnose node problems easily. In fact, we will see some powerful

graphical tools such as rxconsole and rxgraph, as well as visualization interfaces

such as rxplot and rviz. Finally, this chapter explains how to record and playback

messages using rosbag and rxbag.

Chapter 4, 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 in ROS, such as range lasers, servo motors, cameras, RGB-D

sensors, and much more. Moreover, we explain how to use embedded systems

with microcontrollers, similar to the widely known Arduino boards.

Chapter 5, 3D Modeling and Simulation, constitutes one of the rst steps in order to

implement our own robot in ROS. It shows you how to model a robot from scratch

and run it in simulation using the Gazebo simulator. This will later allow you to use

the whole navigation stack provided by ROS and other tools.

Chapter 6, 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 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 7, Navigation Stack – Robot Setups, is the rst of two chapters concerned with

the ROS navigation stack. This chapter describes how to congure your robot so

that it can be used with the navigation stack. In the same way, the stack is explained,

along with several examples.

www.it-ebooks.info

Preface

[ 3 ]

Chapter 8, 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 9, Combining Everything – Learn by Doing, builds from the previous chapters

and shows a number of robots which are supported in ROS using the Gazebo

simulator. In this chapter you will see how to run these robots in simulation and

perform several of the tasks learned in the rest of the book, especially those related

to the navigation stack.

What you need for this book

This book was written with the intention that almost everybody can follow it and

run the source code examples provided with it. Basically, you need a computer with a

Linux distribution. Although any Linux distribution should be ne, it is recommended

that you use a recent version of Ubuntu. Then you will use ROS Fuerte, which is

installed according to the instructions given in Chapter 1, Getting Started with ROS.

For this distribution of ROS, you will need a version of Ubuntu prior to 12.10

because since this version Fuerte is no longer supported.

Regarding the hardware requirements of your computer, in general any computer

or laptop is enough. However, it is advisable to use a dedicated graphic card in

order to run the Gazebo simulator. Also, it will be good to have a good number

of peripherals, so that you can connect several sensors and actuators, including

cameras and Arduino boards.

You will also need Git (the

git-core Debian package) in order to clone the repository

with the source code provided with this book. Similarly, you are expected to have

a basic knowledge of the Bash command line, GNU/Linux tools, and some C/C++

programming skills.

Who this book is for

This book is targeted at all robotics developers, from amateurs to professionals. It

covers all the aspects involved in a whole robotic system and shows how ROS helps

with the task of making a robot really autonomous. Anyone who is learning robotics

and has heard about ROS but has never tried it will benet from this book. Also, ROS

beginners will learn advance concepts and tools of this framework. Indeed, even

regular users may learn something new from some particular chapters. Certainly,

only the rst three chapters are intended for new users; so those who already use

ROS may skip these ones and go directly to the rest.

www.it-ebooks.info

剩余331页未读，继续阅读

linuxarmsummary

粉丝: 1457
资源: 5

ROS机器人编程入门指南：实战教程

Mastering ROS for Robotics Programming

Learning ROS for Robotics

learning ros for robotics programming

ROS学习经典教程 Learning ROS for Robotics Programming

Learning ROS for Robotics Programming - Second Edition

ROS初学者指南：Learning ROS for Robotics Programming

Learning ROS for Robotics Programming Second Edition 随书代码

ROS机器人编程：Learning ROS for Robotics Programming第二版解析

ROS编程指南：Learning ROS for Robotics Programming第二版解析

lamp-cloud 基于jdk21、jdk17、jdk8 + SpringCloud + SpringBoot 开发的微服务中后台快速开发平台，专注于多租户(SaaS架构)解决方案

最新资源