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A systematic approach to learning robot programming with ROS / Wyatt S. Newman.
Author
Newman, Wyatt S.
[Browse]
Format
Book
Language
English
Published/Created
Boca Raton : CRC Press, [2018]
Description
xxvii, 502 pages ; 27 cm
Availability
Available Online
O'Reilly Online Learning: Academic/Public Library Edition
Copies in the Library
Location
Call Number
Status
Location Service
Notes
Engineering Library - Stacks
TJ211.45 .N49 2018
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Details
Subject(s)
Robots
—
Programming
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Robots
—
Control systems
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Operating systems (Computers)
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Bibliographic references
Includes bibliographical references and index.
Contents
Machine generated contents note: ch. 1 Introduction to ROS: ROS tools and nodes
1.1.Some ROS Concepts
1.2.Writing ROS Nodes
1.2.1.Creating ROS packages
1.2.2.Writing a minimal ROS publisher
1.2.3.Compiling ROS nodes
1.2.4.Running ROS nodes
1.2.5.Examining running minimal publisher node
1.2.6.Scheduling node timing
1.2.7.Writing a minimal ROS subscriber
1.2.8.Compiling and running minimal subscriber
1.2.9.Minimal subscriber and publisher node summary
1.3.More ROS Tools: Catkin_simple, ROSLaunch, RQT_Console, And Rosbag
1.3.1.Simplifying CMakeLists.txt with catkin_simple
1.3.2.Automating starting multiple nodes
1.3.3.Viewing output in a ROS console
1.3.4.Recording and playing back data with rosbag
1.4.Minimal Simulator And Controller Example
1.5.Wrap-Up
ch. 2 Messages, Classes and Servers
2.1.Defining Custom Messages
2.1.1.Defining a custom message
2.1.2.Defining a variable-length message
Note continued: 2.2.Introduction To ROS Services
2.2.1.Service messages
2.2.2.ROS service nodes
2.2.3.Manual interaction with ROS services
2.2.4.Example ROS service client
2.2.5.Running example service and client
2.3.Using C++ Classes In ROS
2.4.Creating Library Modules In ROS
2.5.Introduction To Action Servers And Action Clients
2.5.1.Creating an action server package
2.5.2.Defining custom action-server messages
2.5.3.Designing an action client
2.5.4.Running the example code
2.6.Introduction To Parameter Server
2.7.Wrap-Up
ch. 3 Simulation in ROS
3.1.Simple Two-Dimensional Robot Simulator
3.2.Modeling For Dynamic Simulation
3.3.Unified Robot Description Format
3.3.1.Kinematic model
3.3.2.Visual model
3.3.3.Dynamic model
3.3.4.Collision model
3.4.Introduction To Gazebo
3.5.Minimal Joint Controller
3.6.Using Gazebo Plug-In For Joint Servo Control
3.7.Building Mobile-Robot Model
Note continued: 3.8.Simulating Mobile-Robot Model
3.9.Combining Robot Models
3.10.Wrap-Up
ch. 4 Coordinate Transforms in ROS
4.1.Introduction To Coordinate Transforms In ROS
4.2.Transform Listener
4.3.Using Eigen Library
4.4.Transforming ROS Datatypes
4.5.Wrap-Up
ch. 5 Sensing and Visualization in ROS
5.1.Markers And Interactive Markers In RVIZ
5.1.1.Markers in RVIZ
5.1.2.Triad display example
5.1.3.Interactive markers in RVIZ
5.2.Displaying Sensor Values In RVIZ
5.2.1.Simulating and displaying LIDAR
5.2.2.Simulating and displaying color-camera data
5.2.3.Simulating and displaying depth-camera data
5.2.4.Selection of points in rviz
5.3.Wrap-Up
ch. 6 Using Cameras in ROS
6.1.Projective Transformation Into Camera Coordinates
6.2.Intrinsic Camera Calibration
6.3.Intrinsic Calibration Of Stereo Cameras
6.4.Using OPENCV With ROS
6.4.1.Example OpenCV: finding colored pixels
Note continued: 6.4.2.Example OpenCV: finding edges
6.5.Wrap-Up
ch. 7 Depth Imaging and Point Clouds
7.1.Depth From Scanning Lidar
7.2.Depth From Stereo Cameras
7.3.Depth Cameras
7.4.Wrap-Up
ch. 8 Point Cloud Processing
8.1.Simple Point-Cloud Display Node
8.2.Loading And Displaying Point-Cloud Images From Disk
8.3.Saving Published Point-Cloud Images To Disk
8.4.Interpreting Point-Cloud Images With PCL Methods
8.5.Object Finder
8.6.Wrap-Up
ch. 9 Mobile-Robot Motion Control
9.1.Desired State Generation
9.1.1.From paths to trajectories
9.1.2.A trajectory builder library
9.1.3.Open-loop control
9.1.4.Desired state publishing
9.2.Robot State Estimation
9.2.1.Getting model state from Gazebo
9.2.2.Odometry
9.2.3.Combining odometry, GPS and inertial sensing
9.2.4.Combining odometry and LIDAR
9.3.Differential-Drive Steering Algorithms
9.3.1.Robot motion model
Note continued: 9.3.2.Linear steering of a linear robot
9.3.3.Linear steering of a non-linear robot
9.3.4.Non-linear steering of a non-linear robot
9.3.5.Simulating non-linear steering algorithm
9.4.Steering With Respect To Map Coordinates
9.5.Wrap-Up
ch. 10 Mobile-Robot Navigation
10.1.Map Making
10.2.Path Planning
10.3.Example Move-Base Client
10.4.Modifying Navigation Stack
10.5.Wrap-Up
ch. 11 Low-Level Control
11.1.A One-Dof Prismatic-Joint Robot Model
11.2.Example Position Controller
11.3.Example Velocity Controller
11.4.Example Force Controller
11.5.Trajectory Messages For Robot Arms
11.6.Trajectory Interpolation Action Server For A Seven-DOF Arm
11.7.Wrap-Up
ch. 12 Robot Arm Kinematics
12.1.Forward Kinematics
12.2.Inverse Kinematics
12.3.Wrap-Up
ch. 13 Arm Motion Planning
13.1.Cartesian Motion Planning
13.2.Dynamic Programming For Joint-Space Planning
Note continued: 13.3.Cartesian-Motion Action Servers
13.4.Wrap-Up
ch. 14 Arm Control With Baxter Simulator
14.1.Running Baxter Simulator
14.2.Baxter Joints And Topics
14.3.Baxter's Grippers
14.4.Head Pan Control
14.5.Commanding Baxter Joints
14.6.Using ROS Joint Trajectory Controller
14.7.Joint-Space Record And Playback Nodes
14.8.Baxter Kinematics
14.9.Baxter Cartesian Moves
14.10.Wrap-Up
ch. 15 An Object-Grabber Package
15.1.Object-Grabber Code Organization
15.2.Object Manipulation Query Service
15.3.Generic Gripper Services
15.4.Object-Grabber Action Server
15.5.Example Object-Grabber Action Client
15.6.Wrap-Up
ch. 16 Perception-Based Manipulation
16.1.Extrinsic Camera Calibration
16.2.Integrated Perception And Manipulation
16.3.Wrap-Up
ch. 17 Mobile Manipulation
17.1.Mobile Manipulator Model
17.2.Mobile Manipulation
17.3.Wrap-Up
ch. 18 Conclusion.
Show 156 more Contents items
ISBN
9781138096301 (hardcover : alkalinepaper)
113809630X (hardcover : alkalinepaper)
9781498777827 (paperback : alkaline paper)
1498777821 (paperback : alkaline paper)
LCCN
2017013872
OCLC
979567139
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A systematic approach to learning robot programming with ROS / Wyatt S. Newman.
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