Programming Robots with ROS by Morgan Quigley, Brian Gerkey -- Read -- Imperial Library of Trantor

Index

Programming Robots with ROS Preface

Who Should Read This Book? Who Should Not Read This Book? What You’ll Learn Prerequisites Conventions Used in This Book Using Code Examples Safari® Books Online How to Contact Us Acknowledgments

1. Introduction

Brief History Philosophy Installation Summary

2. Preliminaries

The ROS Graph roscore rosrun Names, Namespaces, and Remapping roslaunch The [TAB] key Summary

3. Topics

Publishing to a Topic

Checking that Everything Works as Expected

Subscribing to a Topic

Checking that Everything Works as Expected

Latched Topics Defining Your Own Message Types

Defining a New Message Using Your New Message When Should You Make a New Message Type?

Mixing Publishers and Subscribers Summary

4. Services

Defining a Service Implementing a Service

Checking that Everything Works as Expected Other Ways of Returning Values from a Service

Using a Service

Checking that Everything Works as Expected Other Ways to Call Services

Summary

5. Actions

Defining an Action Implementing a Basic Action Server

Checking that Everything Works as Expected

Using an Action

Checking that Everything Works as Expected

Implementing a More Sophisticated Action Server Using the More Sophisticated Action

Checking that Everything Works as Expected

Summary

6. Robots and Simulators

Subsystems

Actuation: Mobile Platform Actuation: Manipulator Arm Sensor Head Visual Camera Depth Camera Laser Scanner Shaft Encoders Computation

Actual Robots

PR2 Robonaut 2 Turtlebot Baxter

Simulators

Stage Gazebo Summary

7. Wander-bot

Creating a package Reading sensor data Sensing and Actuation: Wander-bot! Summary

8. Teleop Bot

Development pattern Keyboard driver Motion generator Parameter Server Velocity ramps Let’s Drive! RViz Summary

9. Building Maps of the World

Maps in ROS Recording Data with rosbag Building Maps Starting a Map Server and Looking at a Map Summary

About the Authors Copyright