机器人操作系统（ROS）

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ROS 2, 涉及ROS 2的架构、原理和使用方法。

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 ·······························································································.67 第 5 章 ROS 编程基础··························································································.68 5.1 创建工作空间 ·························································································.68 5.2 创建功能包 ····························································································.69 5.3 使用 ROS 节点 ························································································.70 5.4 ROS 节点交互·························································································.73 5.5 使用参数服务器 ······················································································.76 5.6 创建节点 ·······························································································.78 5.6.1 创建 publisher 节点·············································································.78 5.6.2 创建 subscriber 节点 ···········································································.80 5.6.3 编译功能包 ·····················································································.81 5.6.4 运行 publisher 与 subscriber 节点 ·····························································.83 5.6.5 自定义话题消息················································································.84 5.6.6 自定义服务数据················································································.87 5.7 本章小结 ·······························································································.92 第 6 章 ROS 常用工具··························································································.93 6.1 Qt 工具箱·······························································································.93 6.1.1 日志输出工具 ··················································································.93 6.1.2 计算图可视化工具 ·············································································.94 6.1.3 数据绘图工具 ··················································································.94 6.1.4 参数动态配置工具 ·············································································.95 6.2 rviz 三维可视化平台 ·················································································.95 6.2.1 运行 rviz ························································································.96 6.2.2 数据可视化 ·····················································································.97 6.3 Gazebo 仿真环境······················································································.98 6.3.1 安装并运行 Gazebo ············································································.98 6.3.2 构建仿真环境 ··················································································.99 6.4 rosbag 数据记录与回放··············································································101 6.4.1 使用 rosbag ·····················································································101 6.4.2 回放数据························································································101 6.5 TF 工具 ·································································································103 6.5.1 机器人运动学基本原理········································································103 6.5.2 TF 工具的原理分析 ············································································105 6.5.3 TF 工具 ·························································································106 6.5.4 TF 工具应用实例···············································································106 6.6 本章小结 ······························································································.112 第 7 章 ROS 基础应用实例 ···················································································.113 7.1 遥控小海龟运动 ·····················································································.113 7.1.1 红外遥控器控制小海龟运动 ·································································.113 7.1.2 游戏手柄控制小海龟运动 ····································································.119 7.1.3 本节小结························································································127 7.2 Ublox-GPS 模块的使用及坐标转换·······························································127 7.2.1 GPS 简介························································································127 7.2.2 高斯?克吕格投影变换·········································································128 7.2.3 GPS 的使用·····················································································132 7.2.4 本节小结························································································135 7.3 多传感器数据同步 ···················································································136 7.3.1 message_filters 程序库介绍····································································136 7.3.2 多传感器数据同步实验········································································136 7.3.3 本节小结························································································143 7.4 基于 G29 的移动机器人遥操作实验······························································143 7.4.1 遥操作介绍 ·····················································································143 7.4.2 实验环境基础 ··················································································144 7.4.3 指令解析转发实验 ·············································································144 7.4.4 方向盘反馈控制实验 ··········································································154 7.4.5 本节小结························································································158 第 8 章 ROS 视觉应用实例 ····················································································159 8.1 机器视觉 ·······························································································159 8.1.1 相机驱动安装 ··················································································159 8.1.2 通过 rviz 显示图像·············································································161 8.1.3 相机内参标定 ··················································································163 8.1.4 人脸识别实验 ··················································································166 8.1.5 本节小结························································································172 8.2 光流模块的测速及定位实验········································································172 8.2.1 PX4FLOW 的使用 ·············································································172 8.2.2 PX4FLOW 位置解算并显示···································································175 8.2.3 本节小结························································································180 8.3 基于 Autoware 的目标检测实验 ···································································181 8.3.1 Autoware 简介··················································································181 8.3.2 安装配置 Autoware·············································································181 8.3.3 Autoware 测试··················································································189 8.3.4 利用 yolov3 实现目标检测 ····································································189 8.3.5 本节小结························································································192 第 9 章 ROS 机器语音和深度学习实例 ·····································································193 9.1 在 ROS 中构建一个人机交互机器人 ·····························································193 9.1.1 AIML 简介······················································································193 9.1.2 在 ROS 中创建 AIML 人机交互机器人 ······················································194 9.1.3 运行人机交互机器人 ··········································································200 9.1.4 本节小结························································································201 9.2 基于深度学习标志物检测···········································································201 9.2.1 依赖包安装 ·····················································································201 9.2.2 数据采集························································································203 9.2.3 数据标注························································································206 9.2.4 模型训练························································································210 9.2.5 在 ROS 中使用训练好的模型 ·································································225 9.2.6 本节小结························································································233 第 10 章 ROS 机器人仿真实验················································································234 10.1 机器人模型构建与仿真 ············································································234 10.1.1 URDF ··························································································234 10.1.2 创建 URDF 模型并校验······································································236 10.1.3 在 rviz 中显示模型············································································242 10.1.4 在仿真环境中控制小车运动 ·································································243 10.1.5 本节小结 ······················································································248 10.2 MoveIt!的使用 ·······················································································248 10.2.1 MoveIt!系统架构··············································································248 10.2.2 如何使用 MoveIt!配置助手配置机械臂·····················································251 10.2.3 启动 MoveIt! ··················································································258 10.2.4 本节小结 ······················································································260 10.3 Hector 四旋翼无人机仿真 ·········································································260 10.3.1 四旋翼无人机简介············································································260 10.3.2 Hector 四旋翼无人机仿真····································································261 10.3.3 Hector 仿真环境搭建 ·········································································263 10.3.4 启动 Hector 仿真实验 ········································································263 10.3.5 本节小结 ······················································································268 10.4 机器人 SLAM 及自主导航 ········································································268 10.4.1 使用 gmapping 构建地图 ·····································································268 10.4.2 基于地图的定位与自主导航 ·································································274 10.4.3 安装步骤 ······················································································276 10.4.4 参数配置文件讲解············································································277 10.4.5 实验测试 ······················································································279 10.4.6 本节小结 ······················································································281 第 11 章 ROS?2 简介 ···························································································282 11.1 ROS-2 概述···························································································282 11.2 ROS-2 基础···························································································283 11.2.1 DDS ····························································································284 11.2.2 计算图 ·························································································284 11.2.3 社区层级·······················································································284 11.3 ROS-2 中的通信·····················································································285 11.4 安装 ROS-2 ···························································································286 11.5 本章小结 ······························································································287 参考文献 ············································································································288