ROS (Robot Operating System) is rapidly becoming a de facto standard for writing interoperable and reusable robot software. This book supplements ROS's own documentation, explaining how to interact with existing ROS systems and how to create new ROS programs using C++, with special attention to common mistakes and misunderstandings. The intended audience includes new or potential ROS users.
A Systematic Approach to Learning Robot Programming with ROS provides a comprehensive, introduction to the essential components of ROS through detailed explanations of simple code examples along with the corresponding theory of operation. The book explores the organization of ROS, how to understand ROS packages, how to use ROS tools, how to incorporate existing ROS packages into new applications, and how to develop new packages for robotics and automation. It also facilitates continuing education by preparing the reader to better understand the existing on-line documentation. The book is organized into six parts. It begins with an introduction to ROS foundations, including writing ROS nodes and ROS tools. Messages, Classes, and Servers are also covered. The second part of the book features simulation and visualization with ROS, including coordinate transforms. The next part of the book discusses perceptual processing in ROS. It includes coverage of using cameras in ROS, depth imaging and point clouds, and point cloud processing. Mobile robot control and navigation in ROS is featured in the fourth part of the book The fifth section of the book contains coverage of robot arms in ROS. This section explores robot arm kinematics, arm motion planning, arm control with the Baxter Simulator, and an object-grabber package. The last part of the book focuses on system integration and higher-level control, including perception-based and mobile manipulation. This accessible text includes examples throughout and C++ code examples are also provided at https://github.com/wsnewman/learning_ros
The Rough Guide to Turkey is the most comprehensive travel guide to this unique country straddling both Europe and Asia - and bordering countries as diverse as Greece in the west and Iran in the east. Alongside an array of stunning images, you'll find insightful coverage of everything this country offers: from the Mediterranean beaches that play host to nesting turtles, to the soaring mountain ranges spangled with Alpine flowers, from legendary ancient sites, such as Troy, to the exotic, domed skyline of Byzantine and Ottoman-era Istanbul. Practical advice details how to travel through this vast and varied country. Up-to-date descriptions of the best restaurants, hotels, and shops suit all budgets. And city maps help you navigate the fifteen-million-plus metropolis of Istanbul and other smaller destinations, such as the frontier settlement of Dogubeyazit, in the shadow of biblical Mt. Ararat. Make the most of your time with The Rough Guide to Turkey.
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