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PROGRAMMING ROBOTS WITH ROS. A PRACTICAL INTRODUCTION TO THE ROBOT OPERATING SYSTEM
Título:
PROGRAMMING ROBOTS WITH ROS. A PRACTICAL INTRODUCTION TO THE ROBOT OPERATING SYSTEM
Subtítulo:
Autor:
QUIGLEY, M
Editorial:
O´REILLY
Año de edición:
2016
ISBN:
978-1-4493-2389-9
Páginas:
448
43,95 € -10,0% 39,56 €

 

Sinopsis

Want to develop novel robot applications, but don't know how to write a mapping or object-recognition system? You're not alone, but you're certainly not without help. By combining real-world examples with valuable knowledge from the Robot Operating System (ROS) community, this practical book provides a set of motivating recipes for solving specific robotics use cases.

Ideal for enthusiasts, from students in robotics clubs to professional robotics scientists and engineers, each recipe describes a complete solution using ROS open source libraries and tools. You'll learn how to complete tasks described in the recipes, as well as how to configure and recombine components for other tasks. If you're familiar with Python, you're ready to go.

Learn fundamentals, including key ROS concepts, tools, and patterns
Program robots that perform an increasingly complex set of behaviors, using the powerful packages in ROS
See how to easily add perception and navigation abilities to your robots
Integrate your own sensors, actuators, software libraries, and even a whole robot into the ROS ecosystem
Learn tips and tricks for using ROS tools and community resources, debugging robot behavior, and using C++ in ROS



Fundamentals
Chapter 1Introduction
Brief History
Philosophy
Installation
Summary
Chapter 2Preliminaries
The ROS Graph
roscore
catkin, Workspaces, and ROS Packages
rosrun
Names, Namespaces, and Remapping
roslaunch
The Tab Key
tf: Coordinate Transforms
Summary
Chapter 3Topics
Publishing to a Topic
Subscribing to a Topic
Latched Topics
Defining Your Own Message Types
Mixing Publishers and Subscribers
Summary
Chapter 4Services
Defining a Service
Implementing a Service
Using a Service
Summary
Chapter 5Actions
Defining an Action
Implementing a Basic Action Server
Using an Action
Implementing a More Sophisticated Action Server
Using the More Sophisticated Action
Summary
Chapter 6Robots and Simulators
Subsystems
Complete Robots
Simulators
Summary
Chapter 7Wander-bot
Creating a Package
Reading Sensor Data
Sensing and Actuation: Wander-bot!
Summary
Moving Around Using ROS
Chapter 8Teleop-bot
Development Pattern
Keyboard Driver
Motion Generator
Parameter Server
Velocity Ramps
Let's Drive!
rviz
Summary
Chapter 9Building Maps of the World
Maps in ROS
Recording Data with rosbag
Building Maps
Starting a Map Server and Looking at a Map
Summary
Chapter 10Navigating About the World
Localizing the Robot in a Map
Using the ROS Navigation Stack
Navigating in Code
Summary
Chapter 11Chess-bot
Joints, Links, and Kinematic Chains
The Key to Success
Installing and Running a Simulated R2
Moving R2 from the Command Line
Moving R2 Around a Chessboard
Operating the Hand
Modeling a Chessboard
Playing Back a Famous Chess Game
Summary
Perception and Behavior
Chapter 12Follow-bot
Acquiring Images
Detecting the Line
Following the Line
Summary
Chapter 13On Patrol
Simple Patrolling
State Machines
Defining State Machines with smach
Patrolling with State Machines
Summary
Chapter 14Stockroom-bot
Stockroom Simulation
Driving to Bins
Picking Up the Item
Summary
Bringing Your Own Stuff into ROS
Chapter 15Your Own Sensors and Actuators
Adding Your Own Sensors
Adding Your Own Actuators
Summary
Chapter 16Your Own Mobile Robot
TortoiseBot
ROS Message Interface
Hardware Driver
Modeling the Robot: URDF
Simulation in Gazebo
Summary
Chapter 17Your Own Mobile Robot: Part 2
Verifying Transforms
Adding a Laser Sensor
Configuring the Navigation Stack
Using rviz to Localize and Command a Navigating Robot
Summary
Chapter 18Your Own Robot Arm
CougarBot
ROS Message Interface
Hardware Driver
Modeling the Robot: URDF
Simulation in Gazebo
Verifying Transforms
Configuring MoveIt
Using rviz to Send Goals
Summary
Chapter 19Adding a Software Library
Make Your Robot Talk: pyttsx
Summary
Tips and Tricks
Chapter 20Tools
The Master and Friends: roscore
Parameters: rosparam
Navigating the Filesystem: roscd
Starting a Node: rosrun
Starting Many Nodes: roslaunch
Testing a Many-Node System: rostest
Introspection: rosnode, rostopic, rosmsg, rosservice, and rossrv
Summary
Chapter 21Debugging Robot Behavior
Log Messages: /rosout and rqt_console
Nodes, Topics, and Connections: rqt_graph and rosnode
Sensor Fusion: rviz
Plotting Data: rqt_plot
Data Logging and Analysis: rosbag and rqt_bag
Summary
Chapter 22The ROS Community: Online Resources
Etiquette
The ROS Wiki
ROS Answers
Trackers (Bugs and Feature Requests)
Mailing Lists and Special Interest Groups
Finding and Sharing Code
Summary
Chapter 23Using C++ in ROS
When Should You Use C (or Some Other Language)?
Building C++ with catkin
Translating from Python to C++ (and Back Again)
Summary