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ROS（Robot Operating System）是近些年发展起来的通用、开源机器人操作系统。本书全面介绍了该操作系统的软件架构、编程方法以及智能机器人控制技术，书中内容是作者根据多年的ROS开发经验并结合ROS的最新发展撰写而成。主要内容包括：ROS以及相关软件的安装方法、基本命令的使用、ROS开发基础、ROS中的仿真工具Rviz和Gazebo、机器人抓取操作仿真、移动机器人定位导航仿真与实验、Moveit!运动规划、ROS通用硬件接口以及具有实时性的ROS 2.0。

第一章 ROS 简介 ..........................................................................................001
1.1 ROS 概述 ..................................................................................................001
1.2 Ubuntu 系统简介 .......................................................................................003
1.3 ROS 安装 ...................................................................................................006
1.4 ROS 的基本命令 .......................................................................................013
第二章 ROS 开发基础 .....................................................................................023
2.1 ROS 功能包 .................................................................................................023
2.2 节点(Nodes) ................................................................................................. 027
2.3 消息(Messages) ............................................................................................. 027
2.4 服务文件(srv) .................................................................................................029
2.5 主题(Topics) ...................................................................................................032
2.6 服务(Services) .................................................................................................039
2.7 launch 文件 ...................................................................................................... 044
2.8 rqt .....................................................................................................................047
2.9 ROS 中的运动学/动力学库 ............................................................................053
2.10 ROS 与 Matlab ................................................................................................057
第三章 ROS 中的仿真工具 ...................................................................................064
3.1 rviz .....................................................................................................................064
3.2 Gazebo ................................................................................................................078
第四章机器人抓取操作仿真 ........................................................................ 102
4.1 R2 机器人简介 ..........................................................................................102
4.2 功能包安装与编译 .....................................................................................102
4.3 仿真设置 .....................................................................................................107
4.4 R2 机器人的控制 .........................................................................................110
4.5 添加自己的控制程序 ....................................................................................122
4.6 抓取操作仿真 ................................................................................................134
第五章导航定位仿真与实验 ............................................................................... 150
5.1 SLAM 和 ROS 中的导航定位功能包 .............................................................150
5.2 安装 rbx1 ...........................................................................................................151
5.3 路径规划 ............................................................................................................152
5.4 导航定位仿真 .....................................................................................................162
5.5 实际机器人的导航定位实验 .............................................................................168
第六章 Moveit!运动规划 ..........................................................................................181
6.1 MoveIt!安装..........................................................................................................181
6.2 MoveIt!接口...........................................................................................................182
6.3 安装 Baxter 机器人的功能包 ...............................................................................195
6.4 创建自己的 MoveIt!功能包 ..................................................................................196
6.5 机械臂运动规划实例 ..........................................................................................219
6.6 Moveit!总结 ...........................................................................................................251
第七章 ROS 硬件接口 ................................................................................................252
7.1 RoNex 简介 ...........................................................................................................252
7.2 RoNex 使用方法 ....................................................................................................254
7.3 RoNex 总结 ............................................................................................................266
第八章实时系统—ROS 2.0 .........................................................................267
8.1 ROS 2.0 概述 ...........................................................................................................267
8.2 安装 ROS 2.0 ...........................................................................................................269
8.3 ROS 2.0 实例 ............................................................................................................270
主要参考文献 ........................................................................................................... 278
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