ROS高效机器人编程
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库存4件
作者阿尼尔马哈塔尼著作 著
出版社东南大学出版社
ISBN9787564173654
出版时间2017-10
版次1
装帧平装
开本16开
纸张胶版纸
页数441页
字数99999千字
定价92元
货号7633614
上书时间2024-06-25
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基本信息
书名:ROS高效机器人编程
定价：92元
作者:阿尼尔马哈塔尼著作 著
出版社：东南大学出版社
出版日期：2017-10-01
ISBN：9787564173654
字数：573000
页码：441
版次：
装帧：平装
开本：大16开
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内容提要
本书中包含了大量可以上手的例子，可以帮助你对自己的机器人进行编程，同时还利用开源的ROS库和工具给出了一套完整的解决方案。另外还展示了如何利用虚拟机和Dcoker容器简化Ubuntu和ROS框架的安装，使你可以在一个隔离的、受控的环境中开始工作，无需修改正常的计算机设置。本书首先讲解了安装方法和基本概念，然后介绍了更多复杂的ROS模块，例如传感器和传动装置集成（驱动）、导航和绘图（这样你就可以创建自主式移动机器人了）、控制处理、计算机视觉、使用PCL的3D感知等。很后，你将能够利用ROSKinetic的所有特性构建一个全功能的机器人。
目录
PrefaceChapter 1： Getting Started with ROSPC installationInstalling ROS Kinetic using repositoriesConfiguring your Ubuntu repositoriesSetting up your source．list fileSetting up your keysInstalling ROSInitializing rosdepSetting up the environmentGetting rosinstallHow to install VirtualBox and UbuntuDownloading VirtualBoxCreating the virtual machineUsing ROS from a Docker imageInstalling DockerGetting and using ROS Docker images and containersInstalling ROS in BeagleBone BlackPrerequisitesSetting up the local machine and source．list fileSetting up your keysInstalling the ROS packagesInitializing rosdep for ROSSetting up the environment in the BeagleBone BlackGetting rosinstall for BeagleBone BlackBasic ROS example on the BeagleBone BlackSummaryChapter 2： ROS Architecture and ConceptsUnderstanding the ROS Filesystem levelThe workspacePackagesMetapackagesMessagesServicesUnderstanding the ROS Computation Graph levelNodes and nodeletsTopicsServicesMessagesBagsThe ROS masterParameter ServerUnderstanding the ROS Community levelTutorials to practise with ROSNavigating through the ROS filesystemCreating our own workspaceCreating an ROS package and metapackageBuilding an ROS packagePlaying with ROS nodesLearning how to interact with topicsLearning how to use servicesUsing Parameter ServerCreating nodesBuilding the nodeCreating msg and srv filesUsing the new srv and msg filesThe launch fileDynamic parametersSummaryChapter 3： Visualization and Debugging ToolsDebugging ROS nodesUsing the GDB debugger with ROS nodesAttaching a node to GDB while launching ROSProfiling a node with valgrind while launching ROSEnabling core dumps for ROS nodesLogging messagesOutputting logging messagesSetting the debug message levelConfiguring the debugging level of a particular nodeGiving names to messagesConditional and filtered messagesShowing messages once， throttling， and other combinationsUsing rqt_console and rqt_loggerlevel to modify the logging level on the flyInspecting the systemInspecting the nodes graph online with rqt_graphSetting dynamic parametersDealing with the unexpectedVisualizing nodes diagnosticsPlotting scalar dataCreating a time series plot with rqt plotImage visualizationVisualizing a single image3D visualizationVisualizing data in a 3D world using rqt_rvizThe relationship between topics and framesVisualizing frame transformationsSaving and playing back dataWhat is a bag file？Recording data in a bag file with rosbagPlaying back a bag fileInspecting all the topics and messages in a bag fileUsing the rqtgui and rqt pluginsSummaryChapter 4： 3D Modeling and SimulationChapter 5： The Navigation Stack - Robot SetupsChapter 6： The Navigation Stack - Beyond SetupsChapter 7： Manipulation with Movelt！Chapter 8： Using Sensors and Actuators with ROSChapter 9： Computer VisionChapter 10： Point CloudsIndex
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