[PDF] 机器人操作系统(ROS) 电子书

机器人操作系统(ROS)

作者：曾庆喜，胡义轩编著

页数：289页

出版社：电子工业出版社

出版日期：2023

ISBN：9787121459757

高清校对版pdf（带目录）

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内容简介

本书共有11章，分为三个部分：第一部分(第1-6章)是机器人操作系统(ROS)的基础，内容包含ROS简介、编程基础知识、ROS概述、ROS环境搭建、ROS编程基础和ROS常用工具，该部分循序渐进地帮助读者熟悉使用ROS；第二部分(第7-10章)设置了不同类型的应用实验，帮助读者掌握并使用ROS；第三部分(第11章)介绍了新一代机器人操作系统ROS2，涉及ROS2的架构、原理和使用方法。本书注重理论与实践相结合，理论部分讲解ROS的基础知识，包括编程基础知识、Linux入门基础知识和ROS相关基础知识；实践部分设置了不同类型的应用实验，便于读者入门了解并运用ROS，并配有相关讲解PPT、代码等，帮助读者深入理解ROS知识，并应用于实践。

作者简介

曾庆喜，南京航空航天大学副教授，主要研究方向为机器人导航、环境感知及控制技术，在国内外期刊和会议上发表论文五十余篇，其中SCI和EI检索三十余篇。申请发明专利60余项、授权16项，出版机器人操作系统（ROS）专著一本。近年来主持完成国家自然科学基金青年基金、中国博士后基金、江苏省企业博士集聚计划项目、江苏省科技支撑计划项目、中央高校基本科研业务费项目以及10余项企业横向合作课题。

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 ·····································································