更新时间：2021-07-02 22:28:48
封面
版权信息
Credits
About the Authors
About the Reviewer
www.PacktPub.com
Customer Feedback
Preface
Chapter 1. Getting Started with ROS
What does ROS do and what are the benefits of learning ROS?
Which robots are using ROS?
Installing and launching ROS
Creating a catkin workspace
ROS packages and manifest
ROS nodes topics and messages
Turtlesim – the first ROS robot simulation
ROS commands summary
Summary
Chapter 2. Creating Your First Two-Wheeled ROS Robot (in Simulation)
Introducing rviz
Creating and building a ROS package
Building a differential drive robot URDF
Gazebo
Chapter 3. Driving Around with TurtleBot
Introducing TurtleBot 2
Loading TurtleBot 2 simulator software
Launching TurtleBot 2 simulator in Gazebo
Setting up to control a real TurtleBot 2
Networking the netbook and remote computer
TurtleBot 2 hardware specifications
Moving the real TurtleBot 2
Introducing rqt tools
TurtleBot's odometry
TurtleBot 2 automatic docking
Introducing TurtleBot 3
Loading TurtleBot 3 simulation software
Launching TurtleBot 3 simulation in rviz
Launching TurtleBot 3 simulation in Gazebo
Hardware assembly and testing
Loading TurtleBot 3 software
Networking TurtleBot 3 and the remote computer
Moving the real TurtleBot 3
Chapter 4. Navigating the World with TurtleBot
3D vision systems for TurtleBot
Configuring TurtleBot and installing the 3D sensor software
Testing the 3D sensor in standalone mode
Running ROS nodes for visualization
Navigating with TurtleBot
Chapter 5. Creating Your First Robot Arm (in Simulation)
Features of Xacro
Building an articulated robot arm URDF using Xacro
Controlling an articulated robot arm in Gazebo
Chapter 6. Wobbling Robot Arms Using Joint Control
Introducing Baxter
Baxter's arms
Loading Baxter software
Launching Baxter Simulator in Gazebo
Baxter's arms and forward kinematics
Introducing MoveIt!
Configuring a real Baxter setup
Controlling a real Baxter
Inverse kinematics
Using a state machine to perform YMCA
Chapter 7. Making a Robot Fly
Introducing quadrotors
Understanding quadrotor sensors
Preparing to fly your quadrotor
Using ROS with UAVs
Introducing Hector Quadrotor
Introducing Crazyflie 2.0
Introducing Bebop
Chapter 8. Controlling Your Robots with External Devices
Creating a custom ROS game controller interface
Creating a custom ROS Android device interface
Creating ROS nodes on Arduino or Raspberry Pi
Chapter 9. Flying a Mission with Crazyflie
Mission components
Loading software for the mission
Setting up the mission
How to control Crazyflie
Flying Crazyflie
Chapter 10. Controlling Baxter with MATLAB
Installing the MATLAB Robotics System Toolbox
Using MATLAB Robotics System Toolbox and Baxter Simulator
Index
