ROS高效机器人编程
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作者(西)阿尼尔·马哈塔尼(Anil Mahtani) 等 著
出版社东南大学出版社
ISBN9787564173654
出版时间2017-10
装帧平装
开本16开
定价92元
货号1201590098
上书时间2024-11-21
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作者简介
阿尼尔·马哈塔尼 is a computer scientist who has dedicated an important part of his career to underwater robotics. He first started working in the field with his master thesis, where he developed a software architecture for a low-cost ROV. During the development of his thesis, he also became the team leader and lead developer of AVORA, a team of university students that designed and developed an autonomous underwater vehicle for the Students Autonomous Underwater Challenge - Europe （SAUC-E） in 2012. That same year, Anil Mahtani completed his thesis and his MSc in Computer Science at the University of Las Palmas de Gran Canaria and then became a Software Engineer at SeeByte Ltd, a world leader in smart software solutions for underwater systems. In 2015, he joined Dell Secureworks as a Software Engineer,where he applies his knowledge and skills toward developing intrusion detection and prevention systems.
During his time at SeeByte Ltd, Anil Mahtani played a key role in the development of several semi-autonomous and autonomous underwater systems for the military and oil and gas industries. In those projects, he was heavily involved in the development of autonomy systems, the design of distributed software architectures,and low-level software development and also contributed in providing Computer Vision solutions for front-looking sonar imagery. At SeeByte Ltd, he also achieved the position of project manager, managing a team of engineers developing and maintaining the internal core C++ libraries.
目录
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 nodes 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
内容摘要
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ROS Kinetic的所有特性构建一个全功能的机器人。
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