ROS机器人编程：原理与应用

（A Systematic Approach to Learning Robot Programming with ROS）

英文原版书下载链接：https://share.weiyun.com/5SVHCXS

推荐中英文对照同步学习！

更新现在此课程已经支持noetic，melodic，kinetic，indigo。

noetic：github.com/wsnewman/learning_ros_external_pkgs_noetic

其余：github.com/wsnewman/learning_ros_setup_scripts

本书配套云端自主学习平台-实验楼-（环境全部配置完成，即开即用）：

https://blog.csdn.net/ZhangRelay/article/details/88530278

不少实验楼用户反馈我制作的课程质量差，接受批评，深刻反思。

由于云端和虚拟机体验较差，推荐安装电脑ROS学习使用，实验楼课程暂停更新。

本书对于代码的讲解详细具体，个人大爱，以下是译者序：

本书完全适用于使用indigo或kinetic的学习者或开发者，部分适用Melodic。

Ubuntu 14.04 和 ROS Indigo：

学习源码：https://github.com/wsnewman/learning_ros
扩展资源：https://github.com/wsnewman/learning_ros_external_packages

Ubuntu 16.04 和 ROS Kinetic：

学习源码：https://github.com/wsnewman/learning_ros_kinetic
扩展资源：https://github.com/wsnewman/learning_ros_external_pkgs_kinetic

本书设置脚本

这里的脚本假设您在github上有一个帐户（在github.com上是免费的）。

您需要在计算机上安装“git”才能使用这些脚本。如果您的计算机上尚未安装“git”，则可以安装：

sudo apt-get --yes --force-yes install git

获取脚本并使其可执行

要运行这些脚本，请在任何目录中键入以下内容，在计算机上的任何位置克隆learning_ros_setup_scripts：

git clone https://github.com/wsnewman/learning_ros_setup_scripts.git

获得文件后，learning_ros_setup_scripts键入以下命令更改目录：

cd learning_ros_setup_scripts

在此之后，键入以下命令使脚本可执行：

chmod +x *.sh

ROS设置

要使用“学习ROS”设置所有依赖项和程序的Indigo的ROS安装，请install_ros_and_tools.sh键入以下命令运行脚本:

(./install_ros_and_tools.sh 或bash install_ros_and_tools.sh）

对于ROS Kinetic使用此行:(与Ubuntu 16.04一起使用）

./install_ros_and_tools_kinetic.sh

工作站设置

要为ROS Indigo设置ROS工作区，请使用该setup_workspace_learning_ros.sh脚本。您需要将您的github用户名和电子邮件作为参数传递给脚本:

( ./setup_workspace_learning_ros.sh github_username github@email.com

或

bash setup_workspace_learning_ros.sh github_username github@email.com）

其中github_username是您在github上的用户名，github @ email.com是您与github帐户关联的电子邮件地址。

对于ROS Kinetic，请使用以下行：

./setup_workspace_learning_ros_kinetic.sh github_username github@email.com

Kinetic install zsh

#!/bin/zsh
# ROS
# ROS + Dependencies Installation
# v 0.36echo "Beginning ROS Installation"echo -e "\e[1m \e[34m >>> Beginning ROS Kinetic Installation \e[21m \e[39m"
echo -e "\e[34m >>> Setting up sources.list and keys... \e[39m"sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
echo -e "\e[34m >>> ...done\e[39m"sudo apt-get updateecho -e "\e[34m >>> Beginning ros-kinetic-desktop-full installation...\e[39m"sudo apt-get --yes --allow install ros-kinetic-desktop-full echo -e "\e[34m >>> Setting up rosdep\e[39m"sudo rosdep initrosdep updateecho -e "\e[34m >>> Setting up environment \e[39m"echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrcsource ~/.zshrcecho -e "\e[34m >>> Setting up rosinstall \e[39m"sudo apt-get --yes --force-yes install python-rosinstallecho -e "\e[1m \e[34m >>> Installing dependencies for mobile robotics code \e[21m \e[39m"sudo apt-get --yes --force-yes install ros-kinetic-joy ros-kinetic-costmap-2d ros-kinetic-nav-core ros-kinetic-sound-play ros-kinetic-amcl ros-kinetic-slam-gmapping ros-kinetic-move-base ros-kinetic-controller-interface ros-kinetic-gazebo-ros-control ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-moveit-msgs ros-kinetic-stdr-simulator ros-kinetic-teleop-twist-keyboard ros-kinetic-slam-gmapping ros-kinetic-map-server ros-kinetic-qt-build ros-kinetic-kdl-parser ros-kinetic-combined-robot-hw ros-kinetic-combined-robot-hw-tests ros-kinetic-controller-manager-tests ros-kinetic-diff-drive-controller ros-kinetic-force-torque-sensor-controller ros-kinetic-gripper-action-controller ros-kinetic-imu-sensor-controller ros-kinetic-position-controllers ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-rqt-joint-trajectory-controller ros-kinetic-velocity-controllers
sudo apt-get --yes --force-yes install ros-kinetic-cv-bridge ros-kinetic-polled-camera ros-kinetic-camera-info-manager ros-kinetic-tf-conversions
sudo apt-get --yes --force-yes install ros-kinetic-opencv3 libopencv-devsudo apt-get --yes --force-yes install ros-kinetic-ur-description ros-kinetic-ur-gazeboecho -e "\e[1m \e[34m >>> Installing support software \e[21m \e[39m"sudo apt-get --yes --force-yes install gitsudo add-apt-repository -y ppa:webupd8team/sublime-text-3sudo apt-get updatesudo apt-get --yes --force-yes install sublime-text-installer sudo apt-get --yes --echo -e "\e[34m >>> Setting up rosinstall \e[39m"sudo apt-get --yes --force-yes install python-rosinstall install netbeanssudo apt-get --yes --force-yes install gitk git-guisudo apt-get --yes --force-yes install kazam vlcecho -e "\e[1m \e[34m >>> Installing rqt \e[21m \e[39m"sudo apt-get --yes install ros-kinetic-rqtsudo apt-get --yes install ros-kinetic-rqt-common-pluginssource ~/.zshrcsource ~/ros_ws/devel/setup.zsh

Kinetic setup zsh

#!/bin/zsh
# ROS - Workspace setup script
# v 0.26
# Wyatt Newman and Luc Bettaiebecho "Setting up workspace."USERNAME=$1
EMAIL=$2if [ "$USERNAME" != "" ] || [ "$EMAIL" != "" ];
thensource /opt/ros/kinetic/setup.zshecho "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrcrosdep updatemkdir -p ~/ros_ws/srccd ~/ros_ws/src  && catkin_init_workspacecd ~/ros_ws && catkin_makegit config --global user.name "$USERNAME"git config --global user.email "$EMAIL"
#https://github.com/wsnewman/learning_ros_kinetic.git
#https://github.com/wsnewman/learning_ros_external_packages_kinetic.gitcd ~/ros_ws/src && git clone https://github.com/wsnewman/learning_ros_kinetic.gitcd ~/ros_ws/src && git clone https://github.com/wsnewman/learning_ros_external_pkgs_kinetic.git# Cloning STDR is only necessary because of a bug in the current ROS binary release# This prevents spawning a new robot on the screen. See this bug report for more information:# https://github.com/stdr-simulator-ros-pkg/stdr_simulator/issues/195# cd ~/ros_ws/src && git clone https://github.com/stdr-simulator-ros-pkg/stdr_simulator.gitecho "source ~/ros_ws/devel/setup.zsh" >> ~/.zshrcsource ~/.zshrccd ~/ros_ws && catkin_makecd ~/ros_ws && catkin_make installecho "alias cs_create_pkg='~/ros_ws/src/learning_ros_external_pkgs_kinetic/cs_create_pkg.py'" >> ~/.zshrcecho "source ~/ros_ws/devel/setup.zsh" >> ~/.zshrcecho "export ROS_WORKSPACE='$HOME/ros_ws'" >> ~/.zshrc# echo "export ROS_IP=`ifconfig eth0 2>/dev/null|awk '/inet addr:/ {print $2}'|sed 's/addr://'`" >> ~/.zshrcelseecho "USAGE: ./setup_workspace_learning_ros your_github_username your_email@email.com"fiecho "[!!!] NB: You must still manually add your ROS_IP to your ~/.zshrc.  Do this by checking your IP with hostname -I or ifconfig and then adding export ROS_IP='x.x.x.x' to your ~/.zshrc."

Kinetic bash

#!/bin/bash
# Learning ROS
# ROS + Dependencies Installation
# v 0.36echo "Beginning ROS Installation"echo -e "\e[1m \e[34m >>> Beginning ROS Kinetic Installation \e[21m \e[39m"
echo -e "\e[34m >>> Setting up sources.list and keys... \e[39m"sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116echo -e "\e[34m >>> ...done\e[39m"sudo apt-get updateecho -e "\e[34m >>> Beginning ros-kinetic-desktop-full installation...\e[39m"sudo apt-get --yes --allow install ros-kinetic-desktop-full echo -e "\e[34m >>> Setting up rosdep\e[39m"sudo rosdep initrosdep updateecho -e "\e[34m >>> Setting up environment \e[39m"echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrcsource ~/.bashrcecho -e "\e[34m >>> Setting up rosinstall \e[39m"sudo apt-get --yes --force-yes install python-rosinstallecho -e "\e[1m \e[34m >>> Installing dependencies for mobile robotics code \e[21m \e[39m"sudo apt-get --yes --force-yes install ros-kinetic-joy ros-kinetic-costmap-2d ros-kinetic-nav-core ros-kinetic-sound-play ros-kinetic-amcl ros-kinetic-slam-gmapping ros-kinetic-move-base ros-kinetic-controller-interface ros-kinetic-gazebo-ros-control ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-moveit-msgs ros-kinetic-stdr-simulator ros-kinetic-teleop-twist-keyboard ros-kinetic-slam-gmapping ros-kinetic-map-server ros-kinetic-qt-build ros-kinetic-kdl-parser ros-kinetic-combined-robot-hw ros-kinetic-combined-robot-hw-tests ros-kinetic-controller-manager-tests ros-kinetic-diff-drive-controller ros-kinetic-force-torque-sensor-controller ros-kinetic-gripper-action-controller ros-kinetic-imu-sensor-controller ros-kinetic-position-controllers ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-rqt-joint-trajectory-controller ros-kinetic-velocity-controllers
sudo apt-get --yes --force-yes install ros-kinetic-cv-bridge ros-kinetic-polled-camera ros-kinetic-camera-info-manager ros-kinetic-tf-conversions
sudo apt-get --yes --force-yes install ros-kinetic-opencv3 libopencv-devsudo apt-get --yes --force-yes install ros-kinetic-ur-description ros-kinetic-ur-gazeboecho -e "\e[1m \e[34m >>> Installing support software \e[21m \e[39m"sudo apt-get --yes --force-yes install gitsudo add-apt-repository -y ppa:webupd8team/sublime-text-3sudo apt-get updatesudo apt-get --yes --force-yes install sublime-text-installer sudo apt-get --yes --echo -e "\e[34m >>> Setting up rosinstall \e[39m"sudo apt-get --yes --force-yes install python-rosinstall install netbeanssudo apt-get --yes --force-yes install gitk git-guisudo apt-get --yes --force-yes install kazam vlcecho -e "\e[1m \e[34m >>> Installing rqt \e[21m \e[39m"sudo apt-get --yes install ros-kinetic-rqtsudo apt-get --yes install ros-kinetic-rqt-common-pluginssource ~/.bashrcsource ~/ros_ws/devel/setup.bash

更多详细资料和教程，稍后补充