A Systematic Approach to Learning Robot Programming with ROS

A Systematic Approach to Learning Robot Programming with ROS provides a comprehensive, introduction to the essential components of ROS through detailed explanations of simple code examples along with the corresponding theory of operation. The book explores the organization of ROS, how to understand ROS packages, how to use ROS tools, how to incorporate existing ROS packages into new applications, and how to develop new packages for robotics and automation. It also facilitates continuing education by preparing the reader to better understand the existing on-line documentation.

The book is organized into six parts. It begins with an introduction to ROS foundations, including writing ROS nodes and ROS tools. Messages, Classes, and Servers are also covered. The second part of the book features simulation and visualization with ROS, including coordinate transforms.

The next part of the book discusses perceptual processing in ROS. It includes coverage of using cameras in ROS, depth imaging and point clouds, and point cloud processing. Mobile robot control and navigation in ROS is featured in the fourth part of the book

The fifth section of the book contains coverage of robot arms in ROS. This section explores robot arm kinematics, arm motion planning, arm control with the Baxter Simulator, and an object-grabber package. The last part of the book focuses on system integration and higher-level control, including perception-based and mobile manipulation.

This accessible text includes examples throughout and C++ code examples are also provided at https://github.com/wsnewman/learning_ros

Table of Contents

Section I: ROS Foundations
Chapter 1: Introduction to ROS: ROS tools and nodes
Chapter 2: Messages, Classes and Servers

Section II: Simulation and Visualization in ROS
Chapter 3: Simulation in ROS
Chapter 4: Coordinate Transforms in ROS
Chapter 5: Sensing and Visualization in ROS

Section III: Perceptual Processing in ROS
Chapter 6: Using Cameras in ROS
Chapter 7: Depth Imaging and Point Clouds
Chapter 8: Point Cloud Processing

Section IV: Mobile Robots in ROS
Chapter 9: Mobile-Robot Motion Control
Chapter 10: Mobile-Robot Navigation

Section V: Robot Arms in ROS
Chapter 11: Low-Level Control
Chapter 12: Robot Arm Kinematics
Chapter 13: Arm Motion Planning
Chapter 14: Arm Control with Baxter Simulator
Chapter 15: An Object-Grabber Package

Section VI: System Integration and Higher Level Control
Chapter 16: PerceptionBased Manipulation
Chapter 17: Mobile Manipulation
Chapter 18: Conclusion