Robot Operating system是在機器人研究以及
業界設計、仿真和打造原型機器人方面最為廣泛使用
的軟件框架之一。運用ROS知識實現機器人比人們想
像中的要難得多，但是本書可以為創建你自己的機器
人提供幫助。
朗坦·約瑟夫著的《ROS機器人項目(影印版)(英
文版)》包含14個ROS機器人項目．不需要太多硬件就
可以做出原型。全書從ROS介紹和安裝過程開始。討
論相關基礎知識之後，你將被帶入瀏覽偉大項目的旅
程，比如構建自動駕駛汽車、自主移動機器人以及運
用深度學習和ROS相結合的圖像識別等。你可以從中
找到面向初學者、中級學者和專家等各個層次人士的
ROS機器人應用。
本書是那些真正想要在機器人領域大展拳腳的狂
熱愛好者的最佳伴侶。

Preface
Chapter 1: Getting Started with ROS Robotics Application Development
Getting started with ROS
ROS distributions
Supported operating systems
Robots and sensors supported by ROS
Why ROS
Fundamentals of ROS
The filesystem level
The computation graph level
The ROS community level
Communication in ROS
ROS client libraries
ROS tools
Rviz (ROS Visualizer)
rqt_plot
rqt_graph
Simulators of ROS
Installing ROS kinetic on Ubuntu 16.04 LTS
Getting started with the installation
Configuring Ubuntu repositories
Setting up source.list
Setting up keys
Installing ROS
Initializing rosdep
Setting the ROS environment
Getting rosinstall
Setting ROS on VirtualBox
Setting the ROS workspace
Opportunities for ROS in industries and research
Questions
Summary
Chapter 2: Face Detection and Tracking Using ROS, OpenCV and Dynamixel Servos
Overview of the project
Hardware and software prerequisites
Installing dependent ROS packages
Installing the usb_cam ROS package
Creating a ROS workspace for dependencies
Interfacing Dynamixel with ROS
Installing the ROS dynamixel_motor packages
Creating face tracker ROS packages
The interface between ROS and OpenCV
Working with the face-tracking ROS package
Understanding the face tracker code
Understanding CMakeLists.txt
The track.yaml file
The launch files
Running the face tracker node
The face_tracker_control package
The start_dynamixel launch file
he pan controller launch file
The pan controller configuration file
The servo parameters configuration file
The face tracker controller node
Creating CMakeLists.txt
Testing the face tracker control package
Bringing all the nodes together
Fixing the bracket and setting up the circuit
The final run
Questions
Summary
Chapter 3: Building a Siri-Like Chatbot in ROS
Social robots
Building social robots
Prerequisites
Getting started with AIML
AIML tags
The PyAIML interpreter
Installing PyAIML on Ubuntu 16.04 LTS
Playing with PyAIML
Loading multiple AIML files
Creating an AIML hot in ROS
The AIML ROS package
Installing the ROS soundplay package
Chapter 4: Controlling Embedded Boards Using ROS
Chapter 5: Teleoperate a Robot Using Hand Gestures
Chapter 6: Object Detection and Recognition
Chapter 7: Deep Learning Using ROS and TensorFlow
Chapter 8: ROS on MATLAB and Android
Chapter 9: Building an Autonomous Mobile Robot
Chapter 10: Creating a Self-Driving Car Using ROS
Chapter 11: Teleoperating a Robot Using a VR Headset and Leap Motion
Chapter 12: Controlling Your Robots over the Web
Index