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· 분류 : 외국도서 > 컴퓨터 > 기계이론
· ISBN : 9781498777827
· 쪽수 : 502쪽
· 출판일 : 2017-09-15
목차
SECTION I ROS FOUNDATIONS
Introduction to ROS: ROS tools and nodes
Some Ros Concepts
Writing Ros Nodes
Some More Ros Tools: Catkin_Simple, Roslaunch, Rqt_Console, And Rosbag
A Minimal Simulator and Controller Example
Wrap-Up
Messages, Classes and Servers
Defining Custom Messages
Introduction to Ros Services
Using C++ Classes in Ros
Creating Library Modules In Ros
Introduction to Action Servers and Action Clients
Introduction to The Parameter Server
Wrap-Up
SECTION II SIMULATION AND VISUALIZATION IN ROS
Simulation in ROS
The Simple Two-Dimensional Robot Simulator
Modeling for Dynamic Simulation
The Unified Robot Description Format
Introduction to Gazebo
A Minimal Joint Controller
Using A Gazebo Plug-In for Joint Servo Control
Building A Mobile Robot Model
Simulating The Mobile Robot Model
Combining Robot Models
Wrap-Up
Coordinate Transforms in ROS
Introduction to Coordinate Transforms In Ros
The Transform Listener
Using The Eigen Library
Transforming Ros Datatypes
Wrap-Up
Sensing and Visualization in ROS
Markers And Interactive Markers In Rviz
Displaying Sensor Values in Rviz
Wrap-Up
SECTION IIIPERCEPTUAL PROCESSING IN ROS
Using Cameras in ROS
Projective Transformation Into Camera Coordinates
Intrinsic Camera Calibration
Intrinsic Calibration Of Stereo Cameras
Using Opencv with Ros
Wrap-Up
Depth Imaging and Point Clouds
Depth from Scanning Lidar
Depth from Stereo Cameras
Depth Cameras
Wrap-Up
Point Cloud Processing
A Simple Point-Cloud Display Node
Loading and Displaying Point-Cloud Images From Disk
Saving Published Point-Cloud Images to Disk
Interpreting Point-Cloud Images with Pcl Methods
An Object Finder
SECTION IV MOBILE ROBOTS IN ROS
Mobile-Robot Motion Control
Desired State Generation
Robot State Estimation
Differential-Drive Steering Algorithms
Steering with Respect to Map Coordinates
Wrap-Up
Mobile-Robot Navigation
Map Making
Path Planning
An Example Move-Base Client
Modifying The Navigation Stack
Wrap-Up
SECTION V ROBOT ARMS IN ROS
Low-Level Control
A One-Dof, Prismatic-Joint Robot Model
An Example Position Controller
An Example Velocity Controller
An Example Force Controller
Trajectory Messages for Robot Arms
A Trajectory Interpolation Action Server For A 7-Dof Arm
Wrap-Up
Robot Arm Kinematics
Forward Kinematics
Inverse Kinematics
Wrap-Up
Arm Motion Planning
Cartesian Motion Planning
Dynamic Programming for Joint-Space Planning
Cartesian-Motion Action Servers
Wrap-Up
Arm Control with the Baxter Simulator
Running The Baxter Simulator
Baxter Joints and Topics
Baxter's Grippers
Head Pan Control
Commanding Baxter Joints
Using The Ros Joint Trajectory Controller
Joint-Space Record and Playback Nodes
Baxter Kinematics
Baxter Cartesian Moves
Wrap-Up
An Object-Grabber Package
Object-Grabber Code Organization
An Object Manipulation Query Service
Generic Gripper Services
An Object-Grabber Action Server
An Example Object-Grabber Action Client
Wrap-Up
SECTION VI SYSTEM INTEGRATION AND HIGHER-LEVEL CONTROL
Perception-Based Manipulation
Extrinsic Camera Calibration
Integrated Perception and Manipulation
Mobile Manipulation
Mobile Manipulator Model
Mobile Manipulation
Wrap-Up
Conclusion
