ROS 机器人程序设计(英文版)

【实例简介】
ROS机器人程序设计PDF版本，ROS资料较少，希望可以帮到大家
Learning Ros for Robotics Programming Copyright o 2013 Packt Publishing All rights reserved. No part of this book may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, without the prior written permission of the publisher, except in the case of brief quotations embedded in critical articles or reviews rt has been made in the preparation of this book to ensure the accuracy of the information presented However the information contained in this book is sold without warranty, cither express or implied. Neither the authors nor Packt Publishing and its dealers and distributors will be held liable for any damages caused or alleged to be caused directly or indirectly by this book Packt Publishing has endeavored to provide trademark information about all of the companies and products mentioned in this book by the appropriate use of capitals However, Packt Publishing cannot guarantee the accuracy of this information First published: September 2013 Production reference: 1190913 Published by Packt Publishing ltd Livery place 35 Livery street Birmingham b3 2PB UK ISBN978-1-78216-144-8 www.packtpub.com Cover Image by duraid Fatouhi (duraidfatouhioyahoo com [FM2] Credits Authors Proofreader Aaron martinez Joanna mcmahon Enrique Fernandez Copy Editors Reviewers Alida paiva Luis sanchez crespo Radula Hegde Matthieu Keller Gladson Monteiro Damian melniczuk Sayanee Mukherjee Aditi shetti Acquisition Editors Kartikey Pandey Indexers Rubal Kaur Hemangini bari Rekha nair Lead Technical editor Susmita panda Graphics Ronak dhruv Technical editors Jalasha d'costa Production coordinator Amit Ramadas Manu Josep Project C。 rdinator Cover work Abhijit Suvarna Manu Joseph [FM3] About the authors Aaron Martinez is a computer engineer, entrepreneur, and expert in digital fabrication. He did his Master's thesis in 2010 at the IUCTC (Instituto Universitario de Ciencias y Tecnologias Ciberneticas)in the University of Las Palmas de gran Canaria Ile prepared his Master's thesis in the field of telepresence using immersive devices and robotic platforms. After completing his academic career, he attended an internship program at The Institute for Robotics in the johannes Kepler University in Linz, Austria. During his internship program, he worked as part of a development team of a mobile platform using ROS and the navigation stack. After that, he was involved in some projects related to robotics, one of them is the A VORa project in the University of las palmas de gran canaria In this project, he worked on the creation of an aUV(Autonomous Underwater Vehicle) to participate in the Student Autonomous Underwater Challenge-Europe(SAUC-E)in Italy. In 2012, he was responsible for manufacturing this project; in 2013, he helped to adapt the navigation stack and other algorithms from ROS to the robotic platform Recently, Aaron created his own company called Biomecan This company works with projects related to robotics, manufacturing of prototypes, and engineering tissue. The company manufactures devices for other companies and research and development institutes For the past two years, he has been working on engineering tissue projects, creating a new device to help researchers of cell culture Aaron has experience in many fields such as programming, robotics, mechatronics and digital fabrication, many devices such as arduino, Beagle Bone, Servers, and LIDAR, servomotors, and robotic platforms such as Wifibot, Nao Aldebaran, and Pioneer p3at [FM4] I would like to thank my girlfriend who has supported me while writing this book and gave me motivation to continue growing professionally. I also want to thank Donato Monopoli, Head Biomedical Engineering Department at ITC(Canary-Islands Institute of Technology), and all the staff there. Thanks for teaching me all i know about digital fabrication machinery and engineering tissue I spent the best years of my life in your workshop Thanks to my colleagues in the university, especially Alexis Quesada, who gave me the opportunity to create my first robot in my Masters hesis. I have learned a lot about robotics working with them Finally thanks to my family and friends for their help and support Enrique Fernandez is a computer engineer and roboticist. He did his masters Thesis in 2009 at the University Institute of intelligent Systems and Computational Engineering in the university of las palmas de gran canaria. There he has been working on his Ph D for the last four years; he is expected to become a doctor in Computer Science by September 2013. His Ph D addresses the problem of Path Planning for autonomous Underwater Gliders but he has also worked on other robotic projects. He participated in the Student Autonomous Underwater Challenge-Europe(saUC-e)in 2012, and collaborated for the 2013 edition. In 2012 he was awarded a prize for the development of an underwater pan-tilt vision system Now, Enrique is working for Pal-Robotics as a SLAM engineer. He completed his internship in 2012 at the Center of Underwater Robotics research in the Universit of Girona, where he developed SLAM and INS modules for the Autonomous Underwater Vehicles of the research group using rOS. He joined Pal-Robotics in June 2013, where he is working with rEem robots using the ROS software intensively and developing new navigation algorithms for wheeled and biped humanoid robots such as the reem-h3 and rEEm-c. [FM5] During his Ph D, Enrique has published several conference papers and publications Two of these were sent to the international conference of robotics and automation ICRA)in 2011. He is the co-author of some chapters of this book, and his Master's Thesis was about the FastslaM algorithm for indoor robots using a sick laser scanner and the odometry of a Pioneer differential platform. He also has experience with electronics and embedded systems such as pc104 and arduino his background covers Slam, Computer Vision, Path Planning, Optimization, and robotics and Artificial Intelligence in general I would like to thank my colleagues in the avora team which participated in the SaUC-E competition, for their strong collaboration and all the things we learned I also want to thank the members of my research group at the University Institute of Intelligent Systems and Computational Engineering and the people of the Center of Underwater Robotics Research in Girona. During that time, I expended some of the most productive days of my life; I have learned a lot about robotics and had the chance to learn player/stage/Gazebo and start with rOs. Also, thanks to my colleagues in Pal-Robotics who have received me with open arms, and have given me the opportunity to learn even more about ros and (humanoid ) robots Finally, thanks to my family and friends for their help and support [EM-6] About the reviewers Luis sanchez crespo has completed his dual Masters degree in Electronics and Telecommunication Engineering at the University of las Palmas de Gran Canaria He has collaborated with different research groups as the Institute for Technological Development and Innovation (DETIC), the Oceanic Platform of Canary Islands (PLOCAN), and the Institute of Applied Microelectronics(IUMA) where he actually researches on imaging super-resolution algorithms His professional interests lie in computer vision, signal processing, and electronic design applied on robotics systems. For this reason, he joined the AVORa team,a group of young engineers and students working on the development of Underwater Autonomous Vehicles(aUv) from scratch. Inside this project, Luis has started developing acoustic and computer vision systems, extracting information from different sensors such as hydrophones, SONAR, or camera Ile has also been involved in the electronic design of the vehicle. Finally he has played the team Leader role during the preparation of the sauc-e13 challenge With a strong background gained in marine technology, Luis joined Biomecan,a young startup, where he works on developing remotely operated and autonomous vehicles for aquatic environments He is very enthusiastic and an engineer in multiple disciplines He is responsible for his work. He can manage himself and can take up responsibilities as a team leader, as demonstrated at the sauc-e competition directing the avora team his background in electronics and telecommunications allows him to cover a wide range of expertise from signal processing and software to electronic design and fabrication [FM7] He has focused his career in 2D and 3D signal processing, with the development of a system for tracking and detecting signs of exhaustion and the risk of falling asleep in drivers. After this successful research, he started working on two different projects at the same time. The first of these projects focused mainly on achieving video sequences enhancement applying super-resolution. The second project, and one of his most important achievements, was participating in the development of an autonomous underwater vehicle for the Students Autonomous Underwater Challenge-Europe(SAUC-E)in which his team achieved great recognition with the fourth most important prize. In his second year, he took up the mantle of Team Leader, again being recognized by his work during competition I would like to thank my family for supporting me since my first steP, Guaxara for lighting my path, and my teammates for supporting me. i would also like to thank Dario Sosa Cabrera and anil motilal mahtani mirchandani Matthieu Keller is a French student who has completed several internships in development, system administration, and cyber security. His education is mainly in Computer Science and robotics, but he enjoys all kinds of scientific topics Damian Melniczuk graduated with Physics from the Wroclaw University of Technology, where he currently works in the quantum cryptography laboratory Apart from using photons for transporting encryption keys, he is also involved in hacker culture and open source movement. His current projects are: setting up WroclawHackerspace(http://hswro.org/)andbuildinganopensourcemodular homeautomationsystem(http://openhomeautomation.blogspot.com/) [FM-8] Www.Packtpub.com Support files, eBooks, discount offers and more Youmightwanttovisitwww.Packtpub.comforsupportfilesanddownloadsrelated to your book Did you know that Packt offers e Book versions of every book published, with PDH andepubfilesavailableYoucanupgradetotheebookversionatwww.packtpub com and as a print book customer, you are entitled to a discount on the e Book copy Get in touch with us at service@packtpub com for more details Atwww.packtpub.comyoucanalsoreadacollectionoffreetechnicalarticlessign up for a range of free newsletters and receive exclusive discounts and offers on packt books and ebooks PACKTLIB http://packtlib.Packtpub.com Do you need instant solutions to your It questions? PacktLib is Packt's online digital book library. 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