机器人操作系统（ROS）浅析 A Gentle Introduction to ROS 经典回顾

这是入门ROS1最经典的书，再次分享一下。中文版由国防科大肖军浩教授翻译。

ROS2第一个长期支持版本于2019年5月发布，支持到2021年5月。

经过试用的教程将在博客发布，章节风格参考下文所提之书展开。

A Gentle Introduction to ROS

Jason M. O'Kane [author's home page]

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 and potential ROS users.

166 pages
ISBN 978-14-92143-23-9

Printed copies are available from these vendors.

• English version: Amazon.com
• Chinese translation: JD.com Dangdang.com

Electronic copies are free.

• Printable version (Formatted for US letter paper. Should work well for two-sided printing.)
  • Full book
    • Front matter
    • Chapter 1. Introduction
    • Chapter 2. Getting started
    • Chapter 3. Writing ROS programs
    • Chapter 4. Log messages
    • Chapter 5. Graph resource names
    • Chapter 6. Launch files
    • Chapter 7. Parameters
    • Chapter 8. Services
    • Chapter 9. Recording and replaying messages
    • Chapter 10. Conclusion
    • Back matter
• Mobile version (Designed for small screens. Small page size. Small margins.)
  • Full book
    • Front matter
    • Chapter 1. Introduction
    • Chapter 2. Getting started
    • Chapter 3. Writing ROS programs
    • Chapter 4. Log messages
    • Chapter 5. Graph resource names
    • Chapter 6. Launch files
    • Chapter 7. Parameters
    • Chapter 8. Services
    • Chapter 9. Recording and replaying messages
    • Chapter 10. Conclusion
    • Back matter
• Cover

(Updated on 2018-04-24 to version 2.1.6.)

中文版, 肖军浩博士译

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Example code

Errata

BibTeX entry:

@book{OKa13,title = {A Gentle Introduction to ROS},author = {Jason M. O'Kane},publisher = {Independently published},month = oct,year = {2013},isbn = {978-1492143239},note = {Available at \url{http://www.cse.sc.edu/~jokane/agitr/}}
}

These other ROS books might be helpful:

• ROS by Example by R. Patrick Goebel
• Learning ROS for Robotics Programming by Aaron Martinez and Enrique Fernandez