Preface
Part 1: Fundamentals
1. Introduction
-Brief History
-Philosophy
-Installation
-Summary
2. Preliminaries
-The ROS Graph
-roscore
-catkin, Workspaces, and ROS Packages
-rosrun
-Names, Namespaces, and Remapping
-roslaunch
-The Tab Key
-tf: Coordinate Transforms
-Summary
3. Topics
-Publishing to a Topic
-Subscribing to a Topic
-Latched Topics
-Defining Your Own Message Types
-Mixing Publishers and Subscribers
-Summary
4. Services
-Defining a Service
-Implementing a Service
-Using a Service
-Summary
5. Actions
-Defining an Action
-Implementing a Basic Action Server
-Using an Action
-Implementing a More Sophisticated Action Server
-Using the More Sophisticated Action
-Summary
6. Robots and Simulators
-Subsystems
-Complete Robots
-Simulators
-Summary
7. Wander-bot
-Creating a Package
-Reading Sensor Data
-Sensing and Actuation: Wander-bot!
-Summary
Part 2: Moving Around Using ROS
8. Teleop-bot
-Development Pattern
-Keyboard Driver
-Motion Generator
-Parameter Server
-Velocity Ramps
-Let’s Drive!
-rviz
-Summary
9. Building Maps of the World
-Maps in ROS
-Recording Data with rosbag
-Building Maps
-Starting a Map Server and Looking at a Map
-Summary
10. Navigating About the World
-Localizing the Robot in a Map
-Using the ROS Navigation Stack
-Navigating in Code
-Summary
11. Chess-bot
-Joints, Links, and Kinematic Chains
-The Key to Success
-Installing and Running a Simulated R2
-Moving R2 from the Command Line
-Moving R2 Around a Chessboard
-Operating the Hand
-Modeling a Chessboard
-Playing Back a Famous Chess Game
-Summary
Part 3: Perception and Behavior
12. Follow-bot
-Acquiring Images
-Detecting the Line
-Following the Line
-Summary
13. On Patrol
-Simple Patrolling
-State Machines
-Defining State Machines with smach
-Patrolling with State Machines
-Summary
14. Stockroom-bot
-Stockroom Simulation
-Driving to Bins
-Picking Up the Item
-Summary
Part 4: Bringing Your Own Stuff into ROS
15. Your Own Sensors and Actuators
-Adding Your Own Sensors
-Adding Your Own Actuators
-Summary
16. Your Own Mobile Robot
-TortoiseBot
-ROS Message Interface
-Hardware Driver
-Modeling the Robot: URDF
-Simulation in Gazebo
-Summary
17. Your Own Mobile Robot: Part 2
-Verifying Transforms
-Adding a Laser Sensor
-Configuring the Navigation Stack
-Using rviz to Localize and Command a Navigating Robot
-Summary
18. Your Own Robot Arm
-CougarBot
-ROS Message Interface
-Hardware Driver
-Modeling the Robot: URDF
-Simulation in Gazebo
-Verifying Transforms
-Configuring MoveIt
-Using rviz to Send Goals
-Summary
19. Adding a Software Library
-Make Your Robot Talk: pyttsx
-Summary
Part 5: Tips and Tricks
20. Tools
-The Master and Friends: roscore
-Parameters: rosparam
-Navigating the Filesystem: roscd
-Starting a Node: rosrun
-Starting Many Nodes: roslaunch
-Testing a Many-Node System: rostest
-Introspection: rosnode, rostopic, rosmsg, rosservice, and rossrv
-Summary
21. Debugging Robot Behavior
-Log Messages: /rosout and rqt_console
-Nodes, Topics, and Connections: rqt_graph and rosnode
-Sensor Fusion: rviz
-Plotting Data: rqt_plot
-Data Logging and Analysis: rosbag and rqt_bag
-Summary
22. The ROS Community: Online Resources
-Etiquette
-The ROS Wiki
-ROS Answers
-Trackers (Bugs and Feature Requests)
-Mailing Lists and Special Interest Groups
-Finding and Sharing Code
-Summary
23. Using C++ in ROS
-When Should You Use C (or Some Other Language)?
-Building C++ with catkin
-Translating from Python to C++ (and Back Again)
-Summary
Index
