机器人操作系统(ROS)

第 1 章 ROS 简介···································································································1
1.1 ROS 初识··································································································1
1.1.1 ROS 是什么························································································1
1.1.2 ROS 的特点························································································1
1.1.3 ROS 发行版························································································2
1.2 本书的 ROS 资源 ························································································3
1.3 本章小结 ··································································································3
第 2 章 编程基础知识······························································································4
2.1 C 基础知识 ·····························································································4
2.1.1 在 Linux 中使用 C ··············································································4
2.1.2 从实例中学习 C ·············································································.12
2.2 Python 基础知识 ······················································································.22
2.2.1 在 Linux 中使用 Python········································································.22
2.2.2 从实例中学习 Python ··········································································.26
2.3 本章小结 ·······························································································.39
第 3 章 ROS 概述································································································.40
3.1 ROS 文件系统级······················································································.40
3.1.1 工作空间························································································.41
3.1.2 功能包 ··························································································.41
3.1.3 元功能包························································································.42
3.2 计算图级 ·······························································································.43
3.2.1 节点 ·····························································································.43
3.2.2 消息 ·····························································································.44
3.2.3 话题 ·····························································································.44
3.2.4 服务 ·····························································································.45
3.2.5 节点管理器 ·····················································································.45
3.2.6 参数服务器 ·····················································································.45
3.2.7 消息记录包 ·····················································································.46

3.3 ROS 开源社区·························································································.46
3.4 本章小结 ·······························································································.46
第 4 章 ROS 环境搭建··························································································.47
4.1 Ubuntu 安装····························································································.47
4.1.1 制作 Ubuntu 系统盘············································································.47
4.1.2 安装 Ubuntu ····················································································.48
4.1.3 Linux 常用操作指令 ···········································································.53
4.1.4 Shell 基础认识··················································································.55
4.1.5 使用文本编辑器················································································.56
4.1.6 Linux 下 ssh 的使用 ············································································.60
4.2 ROS 安装·······························································································.63
4.3 本章小结 ·····································································