ROS开源机器人控制基础

书籍目录

第一章 ROS 简介 ..........................................................................................001

1.1 ROS 概述 ..................................................................................................001

1.2 Ubuntu 系统简介 .......................................................................................003

1.3 ROS 安装 ...................................................................................................006

1.4 ROS 的基本命令 .......................................................................................013

第二章 ROS 开发基础 .....................................................................................023

2.1 ROS 功能包 .................................................................................................023

2.2 节点(Nodes) ................................................................................................. 027

2.3 消息(Messages) ............................................................................................. 027

2.4 服务文件(srv) .................................................................................................029

2.5 主题(Topics) ...................................................................................................032

2.6 服务(Services) .................................................................................................039

2.7 launch 文件 ...................................................................................................... 044

2.8 rqt .....................................................................................................................047

2.9 ROS 中的运动学/动力学库 ............................................................................053

2.10 ROS 与 Matlab ................................................................................................057

第三章 ROS 中的仿真工具 ...................................................................................064

3.1 rviz .....................................................................................................................064

3.2 Gazebo ................................................................................................................078

第四章机器人抓取操作仿真 ........................................................................ 102

4.1 R2 机器人简介 ..........................................................................................102

4.2 功能包安装与编译 .....................................................................................102

4.3 仿真设置 .....................................................................................................107

4.4 R2 机器人的控制 .........................................................................................110

4.5 添加自己的控制程序 ....................................................................................122

4.6 抓取操作仿真 ................................................................................................134

第五章导航定位仿真与实验 ............................................................................... 150

5.1 SLAM 和 ROS 中的导航定位功能包 .............................................................150

5.2 安装 rbx1 ...........................................................................................................151

5.3 路径规划 ............................................................................................................152

5.4 导航定位仿真 .....................................................................................................162

5.5 实际机器人的导航定位实验 .............................................................................168

第六章 Moveit!运动规划 ..........................................................................................181

6.1 MoveIt!安装..........................................................................................................181

6.2 MoveIt!接口...........................................................................................................182

6.3 安装 Baxter 机器人的功能包 ...............................................................................195

6.4 创建自己的 MoveIt!功能包 ..................................................................................196

6.5 机械臂运动规划实例 ..........................................................................................219

6.6 Moveit!总结 ...........................................................................................................251

第七章 ROS 硬件接口 ................................................................................................252

7.1 RoNex 简介 ...........................................................................................................252

7.2 RoNex 使用方法 ....................................................................................................254

7.3 RoNex 总结 ............................................................................................................266

第八章实时系统—ROS 2.0 .........................................................................267

8.1 ROS 2.0 概述 ...........................................................................................................267

8.2 安装 ROS 2.0 ...........................................................................................................269

8.3 ROS 2.0 实例 ............................................................................................................270

主要参考文献 ........................................................................................................... 278

作者简介

ROS（Robot Operating System）是近些年发展起来的通用、开源机器人操作系统。本书全面介绍了该操作系统的软件架构、编程方法以及智能机器人控制技术，书中内容是作者根据多年的ROS开发经验并结合ROS的最新发展撰写而成。主要内容包括：ROS以及相关软件的安装方法、基本命令的使用、ROS开发基础、ROS中的仿真工具Rviz和Gazebo、机器人抓取操作仿真、移动机器人定位导航仿真与实验、Moveit!运动规划、ROS通用硬件接口以及具有实时性的ROS 2.0。

 ROS开源机器人控制基础下载