Essential Guide to Robot Operating System (ROS): Learn Robot Programming Easily

After over a decade of development, ROS has gained significant promotion and application, especially in academia. Most laboratories at the Carnegie Mellon University Robotics Institute are based on ROS programming, and many researchers from different countries at Facebook Reality Lab also primarily use ROS programming. The simple interface, good versatility, and extensibility of ROS allow people from different specialties and with varying programming skills to collaborate on large robot projects easily. For example, communication between modules for positioning, mapping, navigation, and control in autonomous vehicles and drone systems can be achieved through ROS.

Below, I recommend a book titled “Essential Guide to Robot Operating System (ROS): Learn Robot Programming Easily,” which briefly introduces C++ object-oriented programming and Python programming, explains the framework and concepts of ROS in detail, and provides practical robot case analyses. This is very helpful for beginners in robotics to improve their programming skills and quickly participate in and complete actual research projects.

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The book features a simple style and is an introductory tutorial aimed at readers with no prior knowledge of ROS. It covers everything from the basics of how to install ROS, to fundamental concepts of C/C++ and Python programming, to an introduction to the ROS framework, and finally, how to build a complete robot project. Each part includes detailed operational processes and corresponding code, making it a great introductory textbook for beginners.

The book is divided into six chapters, covering Ubuntu Linux for robots, basic C++ knowledge for robot programming, basic Python for robot programming, an overview of ROS, ROS programming, and ROS-based robot projects.

Chapter 1 introduces methods for installing the Ubuntu system, including installation on a VirtualBox virtual machine and on actual computers, while also covering basic usage of the Ubuntu system and commonly used shell commands in robot programming.

Chapter 2 covers the basic knowledge of C++ programming for robotics, mainly focusing on how to use the GCC compiler to compile code, with specific examples illustrating the concept of object-oriented programming (OOP) in C++. Additionally, Chapter 2 describes how to create a complete C++ project in Ubuntu and compile C++ source code.

Chapter 3 introduces the basics of the Python programming language, usage of the Python interpreter, methods for creating and running Python scripts in Ubuntu, and briefly discusses some commonly used Python libraries in robot programming.

Chapter 4 explains how to install the ROS system, introduces the ROS architecture and related concepts and tools, and demonstrates common ROS operations through two ROS application examples, showcasing the Rviz and Rqt visualization interfaces.

Chapter 5 discusses how to use C++ and Python for ROS programming, including creating workspaces and packages, creating nodes and launch files, and implementing some interesting applications in turtlesim. Finally, it introduces how to program on embedded development boards like Arduino and Raspberry Pi using ROS.

Chapter 6 combines the content learned in previous chapters to introduce a low-cost differential drive robot compatible with ROS, and writes ROS nodes to control the robot’s movement and execute dead reckoning algorithms. In Chapter 6, you will see how to create a robot controlled by the ROS interface and use ROS for development and testing on actual robots.

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Foreword One

Foreword Two

Translator’s Foreword

Chapter 1: Ubuntu Linux for Robots

1.1 Introduction to GNU/Linux

1.2 Installing Ubuntu

1.3 Ubuntu File System

1.4 Introduction to Shell Commands

1.5 Chapter Summary

Chapter 2: Basic Knowledge of C++ for Robot Programming

2.1 Introduction to C++

2.2 Running C/C++ in Ubuntu Linux

2.3 Learning OOP Concepts from Examples

2.4 Creating a C++ Project

2.5 Chapter Summary

Chapter 3: Basic Python for Robot Programming

3.1 Getting Started with Python

3.2 Python in Ubuntu/Linux

3.3 Chapter Summary

Chapter 4: Overview of ROS

4.1 What is Robot Programming

4.2 Why Robot Programming is Unique

4.3 Getting Started with ROS

4.4 Chapter Summary

Chapter 5: ROS Programming

5.1 What is Programming with ROS

5.2 Creating ROS Workspaces and Packages

5.3 Using ROS Client Libraries

5.4 Programming Embedded Boards with ROS

5.5 Chapter Summary

Chapter 6: ROS-Based Robot Projects

6.1 Starting with Wheeled Robots

6.2 Kinematics of Differential Drive Robots

6.3 Building Robot Hardware

6.4 Creating a 3D ROS Model with URDF

6.5 Writing Robot Firmware

6.6 Programming Robots with ROS

6.7 Final Run

6.8 Chapter Summary

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