Contents
CHAPTER 1 Introduction to ROS: ROS tools and nodes
1.2.2 Writing a minimal ROS publisher
1.2.5 Examining running minimal publisher node
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
1.3.1 Simplifying CMakeLists.txt with catkin_simple
1.3.2 Automating starting multiple nodes
1.3.3 Viewing output in a ROS console
1.3.4 Recording and playing back data with rosbag
1.4 MINIMAL SIMULATOR AND CONTROLLER EXAMPLE
CHAPTER 2 Messages, Classes and Servers
2.1.1 Defining a custom message
2.1.2 Defining a variable-length message
2.2 INTRODUCTION TO ROS SERVICES
2.2.3 Manual interaction with ROS services
2.2.4 Example ROS service client
2.2.5 Running example service and client
2.4 CREATING LIBRARY MODULES IN ROS
2.5 INTRODUCTION TO ACTION SERVERS AND ACTION CLIENTS
2.5.1 Creating an action server package
2.5.2 Defining custom action-server messages
2.5.3 Designing an action client
2.5.4 Running the example code
2.6 INTRODUCTION TO PARAMETER SERVER
SECTION II Simulation and Visualization in ROS
3.1 SIMPLE TWO-DIMENSIONAL ROBOT SIMULATOR
3.2 MODELING FOR DYNAMIC SIMULATION
3.3 UNIFIED ROBOT DESCRIPTION FORMAT
3.6 USING GAZEBO PLUG-IN FOR JOINT SERVO CONTROL
3.7 BUILDING MOBILE-ROBOT MODEL
3.8 SIMULATING MOBILE-ROBOT MODEL
CHAPTER 4 Coordinate Transforms in ROS
4.1 INTRODUCTION TO COORDINATE TRANSFORMS IN ROS
4.4 TRANSFORMING ROS DATATYPES
CHAPTER 5 Sensing and Visualization in ROS
5.1 MARKERS AND INTERACTIVE MARKERS IN RVIZ
5.1.3 Interactive markers in rviz
5.2 DISPLAYING SENSOR VALUES IN RVIZ
5.2.1 Simulating and displaying LIDAR
5.2.2 Simulating and displaying color-camera data
5.2.3 Simulating and displaying depth-camera data
5.2.4 Selection of points in rviz
SECTION III Perceptual Processing in ROS
CHAPTER 6 Using Cameras in ROS
6.1 PROJECTIVE TRANSFORMATION INTO CAMERA COORDINATES
6.2 INTRINSIC CAMERA CALIBRATION
6.3 INTRINSIC CALIBRATION OF STEREO CAMERAS
6.4.1 Example OpenCV: finding colored pixels
6.4.2 Example OpenCV: finding edges
CHAPTER 7 Depth Imaging and Point Clouds
CHAPTER 8 Point Cloud Processing
8.1 SIMPLE POINT-CLOUD DISPLAY NODE
8.2 LOADING AND DISPLAYING POINT-CLOUD IMAGES FROM DISK
8.3 SAVING PUBLISHED POINT-CLOUD IMAGES TO DISK
8.4 INTERPRETING POINT-CLOUD IMAGES WITH PCL METHODS
SECTION IV Mobile Robots in ROS
CHAPTER 9 Mobile-Robot Motion Control
9.1.1 From paths to trajectories
9.1.2 A trajectory builder library
9.1.4 Desired state publishing
9.2.1 Getting model state from Gazebo
9.2.3 Combining odometry, GPS and inertial sensing
9.2.4 Combining odometry and LIDAR
9.3 DIFFERENTIAL-DRIVE STEERING ALGORITHMS
9.3.2 Linear steering of a linear robot
9.3.3 Linear steering of a non-linear robot
9.3.4 Non-linear steering of a non-linear robot
9.3.5 Simulating non-linear steering algorithm
9.4 STEERING WITH RESPECT TO MAP COORDINATES
CHAPTER 10 Mobile-Robot Navigation
10.4 MODIFYING NAVIGATION STACK
11.1 A ONE-DOF PRISMATIC-JOINT ROBOT MODEL
11.2 EXAMPLE POSITION CONTROLLER
11.3 EXAMPLE VELOCITY CONTROLLER
11.5 TRAJECTORY MESSAGES FOR ROBOT ARMS
11.6 TRAJECTORY INTERPOLATION ACTION SERVER FOR A SEVEN-DOF ARM
CHAPTER 12 Robot Arm Kinematics
CHAPTER 13 Arm Motion Planning
13.1 CARTESIAN MOTION PLANNING
13.2 DYNAMIC PROGRAMMING FOR JOINT-SPACE PLANNING
13.3 CARTESIAN-MOTION ACTION SERVERS
CHAPTER 14 Arm Control with Baxter Simulator
14.6 USING ROS JOINT TRAJECTORY CONTROLLER
14.7 JOINT-SPACE RECORD AND PLAYBACK NODES
CHAPTER 15 An Object-Grabber Package
15.1 OBJECT-GRABBER CODE ORGANIZATION
15.2 OBJECT MANIPULATION QUERY SERVICE
15.4 OBJECT-GRABBER ACTION SERVER
15.5 EXAMPLE OBJECT-GRABBER ACTION CLIENT
SECTION VI System Integration and Higher Level Control
CHAPTER 16 PerceptionBased Manipulation
16.1 EXTRINSIC CAMERA CALIBRATION
16.2 INTEGRATED PERCEPTION AND MANIPULATION
CHAPTER 17 Mobile Manipulation