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E-grāmata: Robot Operating System (ROS) for Absolute Beginners: Robotics Programming Made Easy

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  • Formāts: PDF+DRM
  • Izdošanas datums: 24-May-2018
  • Izdevniecība: APress
  • Valoda: eng
  • ISBN-13: 9781484234051
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Robot Operating System (ROS) for Absolute Beginners: Robotics Programming Made EasyPalielināt
  • Formāts: PDF+DRM
  • Izdošanas datums: 24-May-2018
  • Izdevniecība: APress
  • Valoda: eng
  • ISBN-13: 9781484234051
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Learn how to get started with robotics programming using Robot Operation System (ROS). Targeted for absolute beginners in ROS, Linux, and Python, this short guide shows you how to build your own robotics projects.

ROS is an open-source and flexible framework for writing robotics software. With a hands-on approach and sample projects, Robot Operating System for Absolute Beginners will enable you to begin your first robot project. You will learn the basic concepts of working with ROS and begin coding with ROS APIs in both C++ and Python.


What You’ll Learn
  • Install ROS
  • Review fundamental ROS concepts
  • Work with frequently used commands in ROS
  • Build a mobile robot from scratch using ROS

Who This Book Is For

Absolute beginners with little to no programming experience looking to learn robotics programming.
About the Author xi
About the Technical Reviewer xiii
Chapter 1 Getting Started with Ubuntu Linux for Robotics
1(54)
Getting Started with GNU/Linux
1(2)
What Is Ubuntu?
2(1)
Why Ubuntu for Robotics?
3(1)
Installing Ubuntu
3(26)
Recommended PC Requirements
4(1)
Downloading Ubuntu
4(1)
Installing VirtualBox
5(1)
Creating a VirtualBox Machine
6(12)
Installing Ubuntu on VirtualBox
18(10)
Installing Ubuntu on a PC
28(1)
Playing with the Ubuntu Graphical User Interface
29(5)
The Ubuntu File System
30(3)
Useful Ubuntu Applications
33(1)
Getting Started with Shell Commands
34(20)
Terminal Commands Cheat Sheet
35(19)
Summary
54(1)
Chapter 2 Fundamentals of C++ for Robotics Programming
55(40)
Getting Started with C++
56(1)
Timeline: The C++ Language
56(1)
C/C++ in Ubuntu Linux
56(13)
Introduction to GCC and G++ Compilers
57(1)
Installing C/C++ Compiler
57(1)
Verifying Installation
58(1)
Introduction to GNU Project Debugger (GDB)
59(10)
Learning OOP Concepts from Examples
69(19)
The Differences Between Classes and Structs
69(4)
C++ Classes and Objects
73(2)
Class Access Modifier
75(1)
C++ Inheritance
76(6)
C++ Files and Streams
82(2)
Namespaces in C++
84(1)
C++ Exception Handling
85(3)
C++ Standard Template Libraries
88(1)
Building a C++ Project
88(6)
Creating a Linux Makefile
88(4)
Creating a CMake File
92(2)
Summary
94(1)
Chapter 3 Fundamentals of Python for Robotics Programming
95(32)
Getting Started with Python
96(1)
Timeline: The Python Language
96(1)
Python in Ubuntu Linux
97(29)
Introduction to Python Interpreter
97(1)
Installing Python on Ubuntu 16.04 LTS
98(1)
Verifying Python Installation
98(1)
Writing Your First Code
99(4)
Understanding Python Basics
103(23)
Summary
126(1)
Chapter 4 Kick-Starting Robot Programming Using ROS
127(44)
What Is Robot Programming?
127(5)
Why Robot Programming Is Different
129(3)
Getting Started with ROS
132(38)
The ROS Equation
135(1)
Robot Programming Before and After ROS
135(1)
The History of ROS
135(3)
Before and After ROS
138(1)
Why Use ROS?
138(1)
Installing ROS
139(7)
Robots and Sensors Supporting ROS
146(2)
Popular ROS Computing Platforms
148(1)
ROS Architecture and Concepts
149(3)
The ROS File System
152(2)
ROS Computation Concepts
154(1)
The ROS Community
155(1)
ROS Command Tools
155(5)
ROS Demo: Hello World Example
160(2)
ROS Demo: turtlesim
162(6)
ROS GUI Tools: Rviz and Rqt
168(2)
Summary
170(1)
Chapter 5 Programming with ROS
171(66)
Programming Using ROS
171(1)
Creating a ROS Workspace and Package
172(8)
ROS Build System
176(1)
ROS Catkin Workspace
177(1)
Creating a ROS Package
178(2)
Using ROS Client Libraries
180(47)
Roscpp and rospy
181(8)
The Hello World Example Using ROS
189(15)
Programming turtlesim Using rospy
204(17)
Programming TurtleBot Simulation Using rospy
221(6)
Programming Embedded Boards Using ROS
227(9)
Interfacing Arduino with ROS
228(6)
Installing ROS on a Raspberry Pi
234(2)
Summary
236(1)
Chapter 6 Robotics Project Using ROS
237(38)
Getting Started with Wheeled Robots
237(1)
Differential Drive Robot Kinematics
238(4)
Building Robot Hardware
242(10)
Buying Robot Components
243(6)
Block Diagram of the Robot
249(2)
Assembling Robot Hardware
251(1)
Creating a 3D ROS Model Using URDF
252(5)
Programming Robot Firmware
257(5)
Programming Robot Using ROS
262(10)
Creating a Bluetooth-ROS Driver for the Robot
263(5)
The Teleop Node
268(1)
The Twist Message to Motor Velocity Node
269(1)
The Odometry Node
270(1)
The Dead-Reckoning Node
270(2)
Final Run
272(2)
Summary
274(1)
Index 275
Lentin Joseph is an author, entrepreneur, electronics engineer, robotics enthusiast, machine vision expert, embedded programmer, and the founder and CEO of Qbotics Labs from India. He completed his bachelor's degree in electronics and communication engineering at the Federal Institute of Science and Technology (FISAT), Kerala. After graduating, Lentin worked for three years at a start-up company focusing on robotics and image processing. During that time he learned to work with various robotics software platforms such as Robot Operating System (ROS), V-REP, and Actin (a robotic simulation tool) and image processing libraries such as OpenCV, OpenNI, and PCL. He also has experience with 3D robot design and embedded programming on Arduino and Tiva Launchpad.  He recently started a new company called Qbotics Labs, which mainly focuses on research into building some great products in domains such as robotics and machine vision.
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