| 作 者： | 阿尼尔·马哈塔尼 |
| 出版社： | 东南大学出版社 |
| 丛编项： | |
| 版权说明： | 本书为出版图书，暂不支持在线阅读，请支持正版图书 |
| 标 签： | 程序设计 计算机/网络 |
| ISBN | 出版时间 | 包装 | 开本 | 页数 | 字数 |
|---|---|---|---|---|---|
| 未知 | 暂无 | 暂无 | 未知 | 0 | 暂无 |
Preface
Chapter 1： Getting Started with ROS
PC installation
Installing ROS Kinetic using repositories
Configuring your Ubuntu repositories
Setting up your source．list file
Setting up your keys
Installing ROS
Initializing rosdep
Setting up the environment
Getting rosinstall
How to install VirtualBox and Ubuntu
Downloading VirtualBox
Creating the virtual machine
Using ROS from a Docker image
Installing Docker
Getting and using ROS Docker images and containers
Installing ROS in BeagleBone Black
Prerequisites
Setting up the local machine and source．list file
Setting up your keys
Installing the ROS packages
Initializing rosdep for ROS
Setting up the environment in the BeagleBone Black
Getting rosinstall for BeagleBone Black
Basic ROS example on the BeagleBone Black
Summary
Chapter 2： ROS Architecture and Concepts
Understanding the ROS Filesystem level
The workspace
Packages
Metapackages
Messages
Services
Understanding the ROS Computation Graph level
Nodes and nodelets
Topics
Services
Messages
Bags
The ROS master
Parameter Server
Understanding the ROS Community level
Tutorials to practise with ROS
Navigating through the ROS filesystem
Creating our own workspace
Creating an ROS package and metapackage
Building an ROS package
Playing with ROS nodes
Learning how to interact with topics
Learning how to use services
Using Parameter Server
Creating nodes
Building the node
Creating msg and srv files
Using the new srv and msg files
The launch file
Dynamic parameters
Summary
Chapter 3： Visualization and Debugging Tools
Debugging ROS nodes
Using the GDB debugger with ROS nodes
Attaching a node to GDB while launching ROS
Profiling a node with valgrind while launching ROS
Enabling core dumps for ROS nodes
Logging messages
Outputting logging messages
Setting the debug message level
Configuring the debugging level of a particular node
Giving names to messages
Conditional and filtered messages
Showing messages once， throttling， and other combinations
Using rqt_console and rqt_loggerlevel to modify the logging level on the fly
Inspecting the system
Inspecting the node's graph online with rqt_graph
Setting dynamic parameters
Dealing with the unexpected
Visualizing nodes diagnostics
Plotting scalar data
Creating a time series plot with rqt plot
Image visualization
Visualizing a single image
3D visualization
Visualizing data in a 3D world using rqt_rviz
The relationship between topics and frames
Visualizing frame transformations
Saving and playing back data
What is a bag file？
Recording data in a bag file with rosbag
Playing back a bag file
Inspecting all the topics and messages in a bag file
Using the rqtgui and rqt plugins
Summary
Chapter 4： 3D Modeling and Simulation
Chapter 5： The Navigation Stack - Robot Setups
Chapter 6： The Navigation Stack - Beyond Setups
Chapter 7： Manipulation with Movelt！
Chapter 8： Using Sensors and Actuators with ROS
Chapter 9： Computer Vision
Chapter 10： Point Clouds
Index
