ROS机器人项目(影印版) 东南大学出版社 mobi 下载 fb2 夸克云 azw3 网盘 pdf pmlz

Robot Operating System是在机器人研究以及业界用于设计、仿真和打造原型机器人方面很为广泛使用的软件框架之一。运用ROS知识实现机器人比人们想象的要难得多，但是本书可以为创建你自己的机器人提供不时之需。该书包含14个ROS机器人项目，不需要太多硬件就可以做出原型。全书从ROS介绍和安装过程开始。讨论相关基础知识之后，你将被带入浏览伟大项目的旅程，比如构建自动驾驶汽车、自主移动机器人，以及运用深度学习和ROS相结合的图像识别等。你可以从中找到面向初学、中级和专家等各个层面的ROS机器人应用。

Preface

Chapter 1: Getting Started with ROS Robotics Application Development

Getting started with ROS

ROS distributions

Supported operating systems

Robots and sensors supported by ROS

Why ROS

Fundamentals of ROS

The filesystem level

The computation graph level

The ROS community level

Communication in ROS

ROS client libraries

ROS tools

Rviz (ROS Visualizer)

rqt_plot

rqt_graph

Simulators of ROS

Installing ROS kinetic on Ubuntu 16.04 LTS

Getting started with the installation

Configuring Ubuntu repositories

Setting up source.list

Setting up keys

Installing ROS

Initializing rosdep

Setting the ROS environment

Getting rosinstall

Setting ROS on VirtualBox

Setting the ROS workspace

Opportunities for ROS in industries and research

Questions

Summary

Chapter 2: Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos

Overview of the project

Hardware and software prerequisites

Installing dependent ROS packages

Installing the usb_cam ROS package

Creating a ROS workspace for dependencies

Interfacing Dynamixel with ROS

Installing the ROS dynamixel_motor packages

Creating face tracker ROS packages

The interface between ROS and OpenCV

Working with the face-tracking ROS package

Understanding the face tracker code

Understanding CMakeLists.txt

The track.yaml file

The launch files

Running the face tracker node

The face_tracker_control package

The start_dynamixel launch file

he pan controller launch file

The pan controller configuration file

The servo parameters configuration file

The face tracker controller node

Creating CMakeLists.txt

Testing the face tracker control package

Bringing all the nodes together

Fixing the bracket and setting up the circuit

The final run

Questions

Summary

Chapter 3: Building a Siri-Like Chatbot in ROS

So robots

Building so robots

Prerequisites

Getting started with AIML

AIML tags

The PyAIML interpreter

Installing PyAIML on Ubuntu 16.04 LTS

Playing with PyAIML

Loading multiple AIML files

Creating an AIML hot in ROS

The AIML ROS package

Installing the ROS soundplay package

……

Chapter 4: Controlling Embedded Boards Using ROS

Chapter 5: Teleoperate a Robot Using Hand Gestures

Chapter 6: Object Detection and Recognition

Chapter 7: Deep Learning Using ROS and TensorFlow

Chapter 8: ROS on MATLAB and Android

Chapter 9: Building an Autonomous Mobile Robot

Chapter 10: Creating a Self-Driving Car Using ROS

Chapter 11: Teleoperating a Robot Using a VR Headset and Leap Motion

Chapter 12: Controlling Your Robots over the Web

Index

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