A Systematic Approach to Learning Robot Programming with Ros

ISBN-13: 9781498777827 / Angielski / Miękka / 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, military robots, industrial robots, aerial drones, underwater robots, and smart buildings and cities. This text is for senior undergraduate and graduate students, as well as professionals learning or working in automation. The ROS style of programming offers many benefits to developers, including: access to a large library of ROS packages; open-source repositories; rapid prototyping of new robots, sensors and actuators; ability to develop code in realistic dynamic simulations; and ability to deploy systems that exploit distributed processing.

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