- Cover
- Halftitle
- Title
- Copyright
- Table of Contents
- List of Figures
- Preface
- Acknowledgments
- Author
- Section I: ROS Foundations
- Chapter 1: Introduction to ROS: ROS tools and nodes
- 1.1 Some ROS concepts
- 1.2 Writing ROS nodes
- 1.2.1 Creating ROS packages
- 1.2.2 Writing a minimal ROS publisher
- 1.2.3 Compiling ROS nodes
- 1.2.4 Running ROS nodes
- 1.2.5 Examining running minimal publisher node
- 1.2.6 Scheduling node timing
- 1.2.7 Writing a minimal ROS subscriber
- 1.2.8 Compiling and running minimal subscriber
- 1.2.9 Minimal subscriber and publisher node summary
- 1.3 More ROS tools: catkin_simple, roslaunch, rqt_console, and rosbag
- 1.4 Minimal simulator and controller example
- 1.5 Wrap-up
- Chapter 2: Messages, Classes and Servers
- Chapter 1: Introduction to ROS: ROS tools and nodes
- Section II: Simulation and Visualization in ROS
- Chapter 3: Simulation in ROS
- 3.1 Simple two-dimensional robot simulator
- 3.2 Modeling for dynamic simulation
- 3.3 Unified robot description format
- 3.4 Introduction to Gazebo
- 3.5 Minimal joint controller
- 3.6 Using Gazebo plug-in for joint servo control
- 3.7 Building mobile-robot model
- 3.8 Simulating mobile-robot model
- 3.9 Combining robot models
- 3.10 Wrap-Up
- Chapter 4: Coordinate Transforms in ROS
- Chapter 5: Sensing and Visualization in ROS
- Chapter 3: Simulation in ROS
- Section III: Perceptual Processing in ROS
- Section IV: Mobile Robots in ROS
- Section V: Robot Arms in ROS
- Section VI: System Integration and Higher Level Control
- Bibliography
- Index
A Systematic Approach
to Learning
Robot Programming
with ROS
Wyatt S. Newman
-
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