A Systematic Approach to Learning Robot Programming with ROS

Wyatt Newman

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商品描述

A Systematic Approach to Learning Robot Programming with ROS provides a comprehensive, introduction to the essential components of ROS through detailed explanations of simple code examples along with the corresponding theory of operation. The book explores the organization of ROS, how to understand ROS packages, how to use ROS tools, how to incorporate existing ROS packages into new applications, and how to develop new packages for robotics and automation. It also facilitates continuing education by preparing the reader to better understand the existing on-line documentation.

 

The book is organized into six parts. It begins with an introduction to ROS foundations, including writing ROS nodes and ROS tools. Messages, Classes, and Servers are also covered. The second part of the book features simulation and visualization with ROS, including coordinate transforms.

 

The next part of the book discusses perceptual processing in ROS. It includes coverage of using cameras in ROS, depth imaging and point clouds, and point cloud processing. Mobile robot control and navigation in ROS is featured in the fourth part of the book

 

The fifth section of the book contains coverage of robot arms in ROS. This section explores robot arm kinematics, arm motion planning, arm control with the Baxter Simulator, and an object-grabber package. The last part of the book focuses on system integration and higher-level control, including perception-based and mobile manipulation.

 

This accessible text includes examples throughout and C++ code examples are also provided at https://github.com/wsnewman/learning_ros

商品描述(中文翻譯)

《ROS機器人程式設計系統化學習方法》提供了一個全面的介紹,通過詳細解釋簡單的代碼示例以及相應的操作理論,來介紹ROS的基本組件。本書探討了ROS的組織結構,如何理解ROS套件,如何使用ROS工具,如何將現有的ROS套件應用於新的應用程序,以及如何為機器人和自動化開發新的套件。它還通過幫助讀者更好地理解現有的在線文檔,促進了持續教育。

本書分為六個部分。首先介紹了ROS的基礎知識,包括編寫ROS節點和使用ROS工具。還介紹了消息、類和服務器。書的第二部分介紹了ROS的仿真和可視化,包括座標轉換。

接下來的部分討論了ROS中的感知處理。包括使用攝像頭在ROS中進行處理、深度成像和點雲處理。書的第四部分介紹了ROS中的移動機器人控制和導航。

書的第五部分涵蓋了ROS中的機器人手臂。本部分探討了機器人手臂的運動學、運動規劃、使用Baxter模擬器進行手臂控制以及一個物體抓取套件。書的最後一部分聚焦於系統集成和高級控制,包括基於感知的移動操作。

這本易於理解的書中包含了許多示例,並且還提供了C++代碼示例,可以在https://github.com/wsnewman/learning_ros上找到。