A Systematic Approach to Learning Robot Programming with Ros

ISBN-13: 9781138096301 / Angielski / Twarda / 2017 / 502 str.

Wyatt Newman

Opis

ROS is becoming the de facto means of robot programming, and is expected to be crucial for robotics development in self-driving cars, service robots, and more. This book provides a comprehensive introduction to the essential components of ROS through detailed explanations of simple code examples along with the corresponding theory of operation.

Spis treści

ROS FOUNDATIONS. Introduction to ROS: ROS tools and nodes. Messages, Classes and Servers. SIMULATION AND VISUALIZATION IN ROS. Simulation in ROS. Coordinate Transforms in ROS. Sensing and Visualization in ROS. PERCEPTUAL PROCESSING IN ROS. Using Cameras in ROS. Depth Imaging and Point Clouds. Point Cloud Processing. MOBILE ROBOTS IN ROS. Mobile-Robot. Motion Control. Mobile-Robot Navigation.  ROBOT ARMS IN ROS. Low-Level Control. Robot Arm Kinematics. Arm Motion Planning. Arm Control with the Baxter Simulator. An Object-Grabber Package. SYSTEM INTEGRATION AND HIGHER-LEVEL CONTROL. Perception-Based Manipulation. Mobile Manipulation