Robot Operating system是在机器人研究以及 业界设计、仿真和打造原型机器人方面*为广泛使用 的软件框架之一。运用ROS知识实现机器人比人们想 象中的要难得多，但是本书可以为创建你自己的机器 人提供帮助。
朗坦·约瑟夫著的《ROS机器人项目(影印版)(英 文版)》包含14个ROS机器人项目．不需要太多硬件就 可以做出原型。全书从ROS介绍和安装过程开始。讨 论相关基础知识之后，你将被带入浏览伟大项目的旅 程，比如构建自动驾驶汽车、自主移动机器人以及运 用深度学习和ROS相结合的图像识别等。你可以从中 找到面向初学者、中级学者和专家等各个层次人士的 ROS机器人应用。
本书是那些真正想要在机器人领域大展拳脚的狂 热爱好者的*佳伴侣。
Preface
Chapter 1: Getting Started with ROS Robotics Application Development
Getting started with ROS
ROS distributions
Supported operating systems
Robots and sensors supported by ROS
Why ROS
Fundamentals of ROS
The filesystem level
The computation graph level
The ROS community level
Communication in ROS
ROS client libraries
ROS tools
Rviz (ROS Visualizer)
rqt_plot
rqt_graph
Simulators of ROS
Installing ROS kinetic on Ubuntu 16.04 LTS
Getting started with the installation
Configuring Ubuntu repositories
Setting up source.list
Setting up keys
Installing ROS
Initializing rosdep
Setting the ROS environment
Getting rosinstall
Setting ROS on VirtualBox
Setting the ROS workspace
Opportunities for ROS in industries and research
Questions
Summary
Chapter 2: Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos
Overview of the project
Hardware and software prerequisites
Installing dependent ROS packages
Installing the usb_cam ROS package
Creating a ROS workspace for dependencies
Interfacing Dynamixel with ROS
Installing the ROS dynamixel_motor packages
Creating face tracker ROS packages
The interface between ROS and OpenCV
Working with the face-tracking ROS package
Understanding the face tracker code
Understanding CMakeLists.txt
The track.yaml file
The launch files
Running the face tracker node
The face_tracker_control package
The start_dynamixel launch file
he pan controller launch file
The pan controller configuration file
The servo parameters configuration file
The face tracker controller node
Creating CMakeLists.txt
Testing the face tracker control package
Bringing all the nodes together
Fixing the bracket and setting up the circuit
The final run
Questions
Summary
Chapter 3: Building a Siri-Like Chatbot in ROS
Social robots
Building social robots
Prerequisites
Getting started with AIML
AIML tags
The PyAIML interpreter
Installing PyAIML on Ubuntu 16.04 LTS
Playing with PyAIML
Loading multiple AIML files
Creating an AIML hot in ROS
The AIML ROS package
Installing the ROS soundplay package
Chapter 4: Controlling Embedded Boards Using ROS
Chapter 5: Teleoperate a Robot Using Hand Gestures
Chapter 6: Object Detection and Recognition
Chapter 7: Deep Learning Using ROS and TensorFlow
Chapter 8: ROS on MATLAB and Android
Chapter 9: Building an Autonomous Mobile Robot
Chapter 10: Creating a Self-Driving Car Using ROS
Chapter 11: Teleoperating a Robot Using a VR Headset and Leap Motion
Chapter 12: Controlling Your Robots over the Web
Index
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