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包邮ROS教育机器人实训教程=ROS Educational Robot Training Tutorial
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- ISBN:9787561290118
- 装帧:一般胶版纸
- 册数:暂无
- 重量:暂无
- 开本:16开
- 页数:287
- 出版时间:暂无
- 条形码:9787561290118 ; 978-7-5612-9011-8
内容简介
本书讲解如何搭建ROS机器人,以及如何使用、学习ROS。主要内容包括ROS机器人涉及到的知识工具,图像处理工具,OpenCV的知识与机器人底层控制器串口通信和底盘PID调试相关知识,CAN通信、串口通信,下位机与上位机控制系统的通信算法,数据包发送与接收解析算法。机器人底盘运动解析包括麦克纳姆轮底盘、全向轮底盘、差速底盘和阿克曼底盘解析算法等。本书结构严谨、文图配合恰当,注重理论联系实际,书中所给出的例题、思考题与计算题均结合了实践项目所用知识,便于学生自学和理解、掌握与应用所学知识。 本书可作为学校开展留学生机器人工程训练项目的课程教材,也可供机器人学习爱好者与ROS学习爱好者等读者使用。
目录
Chapter 1 ROS Robot Overview
1.1 Composition of a general robot
1.2 What is ROS robot
1.3 ROS robot
1.4 The positive direction of motion of the ROS robot
Chapter 2 Implementation of the STM32 Bottom Execution Part
2.1 Overview
2.2 Serial port 3/serial port 1 communication receiving speed control command
2.3 CAN communication receiving speed control command part
2.4 Motion execution
2.5 Sending status information to the decision-making level
2.6 Mobile phone bluetooth APP remote control part
2.7 PS2 wireless controller remote control part
2.8 The model aircraft remote control
2.9 Brief description of STM32 source code
Chapter 3 Kinematic Analysis of Common Wheeled Robots
3.1 Mecanum wheel
3.2 Omnidirectional wheel
3.3 Two-wheel differential
3.4 Ackerman steering
Chapter 4 Ubuntu
4.1 Overview
4.2 Virtual machine
4.3 Common commands of Ubuntu
4.4 Remote control
4.5 Remote control:telecommunication configuration
4.6 Remote command line control:SSH
4.7 Remote desktop control:VNC
4.8 Remote mounting files:NFS
4.9 Text editor:Sublime Text
Chapter 5 Introduction of ROS
5.1 Introduction
5.2 Installation of ROS
5.3 Working space and function package
5.4 ROS communication method
5.5 Examples of using node, topic, service and parameter server
Chapter 6 ROS Programming Training:Make a Function Package
6.1 Functional design
6.2 Create a new workspace and function package
6.3 Custom topic data format
6.4 C++ implements topic publishing, subscribing and parameter reading
6.5 Python implements publishing, subscribing, and parameters reading of topics
6.6 Use the launch file to invoke the function packages and upload parameters
Chapter 7 TF, urdf, rviz, rqt and OpenCV
7.1 What is TF?
7.2 TF programming:C++ implements TF broadcasting and monitoring
7.3 TF programming:Python implements TF broadcasting and monitoring
7.4 TF static coordinates tool:launch file publishes static coordinates
7.5 urdf files
7.6 rviz
7.7 rqt
7.8 ROS and OpenCV:cv bridge
Chapter 8 ROS and STM32 Motion Chassis
8.1 What ROS should do
8.2 Function package "turn on wheeltec_robot"
8.3 Use the function package "turn on wheeltec_robot"
Chapter 9 Simultaneous Positioning and Mapping of ROS Robots
9. 1 Basic concepts of simultaneous positioning and mapping
9.2 Gmapping mapping algorithm function package
9.3 Hector mapping algorithm function package
9.4 Cartographer mapping algorithm function package
9.5 Karto mapping algorithm function package
9.6 Mapping with ROS robot
Chapter 10 Autonomous Navigation of ROS Robots
10.1 Overview
10.2 ROS autonomous navigation function package and navigation framework
10.3 Autonomous navigation parameter file
10.4 Autonomous navigation with R()S robots
Appendices
References
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