Programming.Robots.with.ROS

Want to develop novel robot applications, but don’t know how to write a mapping or object recognition system? You’re certainly not alone, but you’re not without help. By combining real-world examples with valuable knowledge from the Robot Operating System (ROS) community, this practical book provides a set of motivating recipes for solving specific robotics use cases. Ideal for wide range of robot enthusiasts, from students in robotics clubs to professional robotics scientists and engineers, each recipe describes a complete solution using ROS open source libraries and tools. You’ll not only learn how to complete the task described in the recipe, but also how to configure and recombine the components for other tasks. All recipes include Python code. No robot hardware is required to get started, just experience with Python and Linux. This book is appropriate for undergraduate and graduate students in introductory robotics courses. Table of Contents Part I. Fundamentals Chapter 1. Introduction Chapter 2. Preliminaries Chapter 3. Topics Chapter 4. Services Chapter 5. Actions Chapter 6. Robots and Simulators Chapter 7. Wander-bot Part II. Moving Around Using ROS Chapter 8. Teleop-bot Chapter 9. Building Maps of the World Chapter 10. Navigating About the World Chapter 11. Chess-bot Part III. Perception and Behavior Chapter 12. Follow-bot Chapter 13. On Patrol Chapter 14. Stockroom-bot Part IV. Bringing Your Own Stuff into ROS Chapter 15. Your Own Sensors and Actuators Chapter 16. Your Own Mobile Robot Chapter 17. Your Own Mobile Robot: Part 2 Chapter 18. Your Own Robot Arm Chapter 19. Adding a Software Library Part V. Tips and Tricks Chapter 20. Tools Chapter 21. Debugging Robot Behavior Chapter 22. The ROS Community: Online Resources Chapter 23. Using C++ in ROS