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Jingdong book

ROS机器人程序设计

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国内首本引进ROS机器人程序设计的译著,让你全面了解 ROS系统的各种工具。
提供了各种实际的示例代码供读者学习和理解ROS的软件框架。
本书可以帮助读者从对ROS一无所知到能够通过ROS系统完成小型机器人系统的开发和编程工作。
Content Description

国内首本引进ROS机器人程序设计的译著,让你全面了解 ROS系统的各种工具。

提供了各种实际的示例代码供读者学习和理解ROS的软件框架。

本书可以帮助读者从对ROS一无所知到能够通过ROS系统完成小型机器人系统的开发和编程工作。




更多精彩,点击进入华章品牌店查阅>>

Author Description

无论是业余爱好者还是专业的机器人开发人员,在开始进行机器人系统及程序设计时,首先要面对的问题都是最基本的驱动机器人的轮子的设计。ROS通过软件代码复用集成了众多已经开发完成的功能组件。而本书就是专门帮助读者从对ROS一无所知到能够通过ROS系统完成小型机器人系统的开发和编程工作的。


本书提供了各种实际的示例代码供读者学习和理解ROS的软件框架。你可以在仿真环境中自行构建机器人相应的功能程序,并在ROS社区中分享你的学习心得和知识。




读者对象

本书主要针对希望学习机器人制作和设计,尤其是想要设计自己的机器人、真正热爱机器人的爱好者。本书将会为你提供让你的机器人可维护可升级,并且能够相互分享的途径。为了能够更好地学习本书的内容,你具备一定的C++程序设计背景以及GNU/Linux系统和计算机科学知识。而你并不需要对ROS有任何了解,因为本书正是要介绍这些基本知识和技能。还有你能够了解一定的版本控制系统的知识,如SVN或GIT。在本书中会经常使用它们。


本书内容:ROS系统的完整安装;创建ROS功能包和功能包集,学习实时地运行和调试功能包;创建、操作和调试ROS节点;设计自定义的3D机器人模型,并在Gazebo虚拟环境中进行仿真;机器人使用摄像头获取视频信息,完成摄像头标定和基本的机器视觉任务;在机器人上集成和使用激光雷达、Arduino和Kinect传感器;创建并配置导航功能包集;在ROS社区分享你的学习心得和知识。

Comments

Aaron Martinez是一个计算机工程师、企业家和数字化制造专家。他硕士毕业于拉斯帕尔马斯大学的IUCTC(科学与网络技术研究所)。之后,参与过拉斯帕尔马斯大学AVORA项目。在这个项目中,他负责设计AUV (自主式水下机器人),并在意大利参加了欧洲学生自主式水下挑战(SAUC-E)。


Enrique Fernández是一名计算机工程师和机器人专家。他硕士毕业于拉斯帕尔马斯大学智能系统与计算工程学院。在2012年参加了欧洲学生自主式水下挑战(SAUC-E),并作为合作者参加了2013年的比赛。 2012年,他因开发水下云台视觉系统而获奖。现在,他是Pal-Robotics实验室的SLAM工程师。Enrique在博士学习期间发表了数篇学术论文和专著。其中,有两篇论文在2011年被国际机器人与自动化会议(ICRA 2011)所收录。



刘品杰,硕士,技术方向工业为自动化控制、DCS/PLC/SCADA系统研发、机器人技术等。先后参与过国产化核电站DCS控制系统研发、国产化油气管道大型SCADA系统研发。历任系统开发工程师、产品经理、项目经理。

Catalogue

译者序
前言
第1章ROS系统入门 1
1.1使用软件源安装ROS Electric 3
1.1.1添加软件源到sources.list文件中 4
1.1.2设置密码 4
1.1.3安装 4
1.1.4环境配置 5
1.2使用软件源安装ROS Fuerte 6
1.2.1配置Ubuntu软件源 6
1.2.2配置source.list文件 6
1.2.3设置密码 7
1.2.4安装 7
1.2.5环境配置 8
1.2.6独立工具 9
1.3如何安装VirtualBox和Ubuntu 9
1.3.1下载VirtualBox 9
1.3.2创建虚拟机 10
1.4本章小结 12
第2章ROS系统架构及示例 13
2.1理解ROS文件系统级 13
2.1.1功能包 14
2.1.2功能包集 16
2.1.3消息类型 16
2.1.4服务类型 17
2.2理解ROS计算图级 18
2.2.1节点 19
2.2.2主题 20
2.2.3服务 21
2.2.4消息 22
2.2.5消息记录包 22
2.2.6节点管理器 22
2.2.7参数服务器 22
2.3理解ROS开源社区级 23
2.4ROS系统试用练习 23
2.4.1ROS文件系统导览 24
2.4.2创建工作空间 24
2.4.3创建ROS功能包 25
2.4.4编译ROS功能包 26
2.4.5使用ROS节点 26
2.4.6使用主题与节点交互 28
2.4.7学习如何使用服务 31
2.4.8使用参数服务器 33
2.4.9创建节点 34
2.4.10编译节点 36
2.4.11创建msg和srv文件 37
2.4.12使用新建的srv和msg文件 38
2.5本章小结 42
第3章调试和可视化 43
3.1调试ROS节点 44
3.1.1使用GDB调试器调试ROS节点 45
3.1.2ROS节点启动时调用GDB调试器 46
3.1.3设置ROS节点core文件转存 47
3.2调试信息 47
3.2.1输出调试信息 47
3.2.2设置调试信息级别 48
3.2.3为特定节点配置调试信息级别 48
3.2.4信息命名 50
3.2.5条件显示信息与过滤信息 50
3.2.6信息的更多功能——单次显示、可调、组合 51
3.2.7使用rosconsole和rxconsole在运行时修改调试级别 52
3.3监视系统状态 56
3.3.1节点、主题与服务列表 56
3.3.2使用rxgraph在线监视节点状态图 56
3.4当奇怪的事情发生——使用roswtf 58
3.5画标量数据图 58
3.5.1用rxplot画出时间趋势曲线 59
3.5.2另一个画图工具rxtools 60
3.6图像可视化 61
3.6.1显示单一图片 61
3.6.2FireWire接口摄像头 62
3.6.3使用双目立体视觉 63
3.73D可视化 64
3.7.1使用rviz在3D世界中实现数据可视化 64
3.7.2主题与坐标系的关系 66
3.7.3可视化坐标变换 67
3.8保存与回放数据 68
3.8.1什么是消息记录包文件 69
3.8.2使用rosbag在包文件中记录数据 69
3.8.3回放消息记录文件 70
3.8.4使用rxbag检查消息记录包的主题和消息 71
3.9rqt插件与rx应用 72
3.10本章小结 73
第4章在ROS下使用传感器和执行机构 74
4.1使用游戏杆或游戏手柄 74
4.1.1joy_node如何发送游戏杆动作消息 75
4.1.2使用游戏杆数据在turtlesim中移动海龟 76
4.2使用激光雷达——Hokuyo URG-04lx 79
4.2.1了解激光雷达如何在 ROS 中发送数据 80
4.2.2访问和修改激光雷达数据 82
4.3使用Kinect传感器查看3D环境 84
4.3.1如何发送和查看Kinect数据 85
4.3.2创建和使用Kinect示例 86
4.4使用伺服电动机——Dynamixel 88
4.4.1Dynamixel如何发送和接收运动命令 89
4.4.2创建和使用伺服电动机示例 90
4.5使用Arduino添加更多的传感器和执行机构 91
4.6使用惯性测量模组——Xsens MTi 94
4.6.1Xsens如何在ROS中发送数据 95
4.6.2创建和使用Xsens示例 96
4.7使用低成本惯性测量模组IMU-10自由度 98
4.7.1下载加速度传感器库 99
4.7.2Arduino Nano和10自由度传感器编程 99
4.7.3创建ROS节点并使用10自由度传感器数据 101
4.8本章小结 103
第5章3D建模与仿真 104
5.1自定义机器人在ROS中的3D模型 104
5.2创建第一个URDF文件 104
5.2.1解释文件格式 106
5.2.2在rviz里查看3D模型 107
5.2.3加载图形到机器人模型 109
5.2.4使机器人模型运动 109
5.2.5物理和碰撞属性 110
5.3xacro——一个写机器人模型的更好方法 111
5.3.1使用常量 111
5.3.2使用数学方法 112
5.3.3使用宏 112
5.3.4使用代码移动机器人 112
5.3.5使用SketchUp进行3D建模 116
5.4在ROS中仿真 117
5.4.1在Gazebo中使用URDF3D模型 117
5.4.2在Gazebo中添加传感器 120
5.4.3在Gazebo中加载和使用地图 121
5.4.4在Gazebo中移动机器人 123
5.5本章小结 125
第6章机器视觉 126
6.1连接和运行摄像头 128
6.1.1FireWire IEEE1394 摄像头 128
6.1.2USB摄像头 132
6.2使用OpenCV制作USB摄像头驱动程序 133
6.2.1创建 USB 摄像头驱动功能包 134
6.2.2使用ImageTransport API发布摄像头帧 135
6.2.3使用 cv_bridge 进行OpenCV 和 ROS 图像处理 138
6.2.4使用ImageTransport 发布图像 139
6.2.5在ROS中使用OpenCV 139
6.2.6显示摄像头输入的图像 140
6.3如何标定摄像头 140
6.4ROS 图像管道 147
6.5对于计算机视觉任务有用的 ROS功能包 152
6.6使用viso2执行视觉测距 153
6.6.1摄像头位姿标定 154
6.6.2运行 viso2 在线演示 156
6.6.3使用低成本双目摄像头运行 viso2 158
6.7本章小结 159
第7章导航功能包集入门 160
7.1ROS导航功能包集 160
7.2创建转换 161
7.2.1创建广播机构 162
7.2.2创建侦听器 162
7.2.3查看坐标变换树 164
7.3发布传感器信息 165
7.4发布里程数据 168
7.4.1Gazebo如何获取里程数据 169
7.4.2创建自定义里程数据 171
7.5创建基础控制器 175
7.5.1使用Gazebo 创建里程数据 176
7.5.2创建基础控制器 178
7.6使用ROS创建地图 180
7.6.1使用map_server保存地图 181
7.6.2使用map_server加载地图 182
7.7本章小结 183
第8章导航功能包集进阶 184
8.1创建功能包 184
8.2创建机器人配置 184
8.3配置全局和局部代价地图 187
8.3.1基本参数的配置 187
8.3.2全局代价地图的配置 188
8.3.3局部代价地图的配置 189
8.4基本局部规划器配置 189
8.5为导航功能包集创建启动文件 190
8.6为导航功能包集设置rviz 191
8.6.12D位姿估计 191
8.6.22D导航目标 192
8.6.3静态地图 193
8.6.4点云 193
8.6.5机器人立足点 193
8.6.6障碍 194
8.6.7膨胀障碍 194
8.6.8全局规划 195
8.6.9局部规划 195
8.6.10规划器规划 196
8.6.11当前目标 196
8.7自适应蒙特卡罗定位 197
8.8避免障碍 199
8.9发送目标 200
8.10本章小结 202
第9章在实践中学习 203
9.1REEM——类人形PAL机器人 204
9.1.1从官方软件源安装REEM 205
9.1.2使用Gazebo仿真环境运行REEM 208
9.2PR2——柳树车库机器人 210
9.2.1安装 PR2仿真环境 210
9.2.2在仿真环境中运行PR2 211
9.2.3生成地图与定位 214
9.2.4在仿真环境中运行PR2演示程序 216
9.3Robonaut 2——NASA的敏捷型人形机器人 217
9.3.1从软件源安装Robonaut 2 217
9.3.2在国际空间站的固定支座上运行Robonaut2 218
9.4Husky——Clearpath的轮式机器人 222
9.4.1安装Husky仿真环境 222
9.4.2运行Husky仿真环境 222
9.5TurtleBot——低成本移动机器人 224
9.5.1安装TurtleBot仿真环境 224
9.5.2运行TurtleBot仿真环境 224
9.6本章小结 225

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