Intro
The Book Structure
Preface
Acknowledgments
Contents
About the Authors
Chapter 1: Composition of Robot System
1.1 Mobile Chassis and Manipulator
1.1.1 Mobile Chassis
1.1.2 Manipulator
1.2 Hardware Components of Robot System
1.2.1 Computing Platform
1.2.2 Motion Controller
1.2.3 Driver and Actuator
1.2.4 Sensor
1.2.5 Display and Touch Panel
1.2.6 Speaker and Microphone
1.2.7 Power Supply System
1.3 Sensor Description and Function Introduction
1.3.1 Encoder
1.3.2 Inertial Measurement Unit
1.3.3 LiDAR
1.3.4 Camera

1.3.5 Infrared Sensor
1.3.6 Ultrasonic Sensor
1.3.7 Millimeter Wave Radar
1.3.8 Collision Sensor
1.3.9 Multi-Sensor Fusion
1.4 Software Composition of Robot System
1.4.1 Operating System
1.4.2 Application Software
1.5 Summary
Further Reading
Exercises
Chapter 2: Connecting the Robot to ROS
2.1 Getting Started with ROS
2.1.1 Origin of ROS
2.1.2 Architecture of ROS
2.1.3 Features of ROS
2.2 ROS Installation
2.2.1 Operating Systems and ROS Versions
2.2.2 Introduction to Linux Foundation
2.2.3 ROS Installation

2.2.4 Set the Environment Variables
2.2.5 Verify Installation
2.3 File System and Communication Mechanisms in ROS
2.3.1 File System
2.3.2 ROS Communication and Its Working Mechanism
2.3.2.1 ROS Computation Graph Level
2.3.2.2 ROS Communication Mechanism
2.4 Writing the First ROS Program
2.4.1 ROS Package Dependency Management
2.4.2 ROS Workspace
2.4.3 Package Creation and Compilation
2.4.3.1 Package Creation
2.4.3.2 Package.xml File
2.4.3.3 Write the CMakeLists.txt File
2.4.3.4 Compile and Build Packages
2.4.4 Rules for Writing ROS Nodes

2.4.5 Two Ways to Run Nodes
2.4.6 Launch File
2.4.6.1 Basic Element
2.4.6.2 Parameter Settings
2.4.6.3 Remapping Mechanism
2.4.6.4 Nested Reuse
2.4.7 Fundamentals of Coordinate Transform
2.4.7.1 Introduction to Coordinate Transform
2.4.7.2 TF Principle
2.4.7.3 TF Message
2.4.7.4 TF Interface in roscpp and rospy
2.4.7.5 Use of Related Command in TF Package
2.5 ROS Common Components
2.5.1 Visualization Tools
2.5.1.1 Rviz
2.5.1.2 Gazebo
2.5.2 Rosbag: Data Logging and Replay
2.5.2.1 Use rosbag to Record Data
2.5.2.2 Play Back Bag Files

2.5.2.3 Check the Topic and Message of the Bag
2.5.3 Debugging Toolkit of ROS
2.5.3.1 Rqt_console
2.5.3.2 Rqt_graph
2.5.3.3 Rqt_plot
2.5.3.4 Rqt_reconfigure
2.5.3.5 Roswtf
2.6 Motion Control of Spark Chassis
2.7 Introduction to ROS External Devices
2.7.1 Remote Control Handle
2.7.1.1 Configuration and Use
2.7.1.2 Sending a Remote Handle Action Message
2.7.1.3 Controlling the turtlesim with the Remote Control Handle
2.7.2 LiDAR
2.7.2.1 Configuration and Use
2.7.2.2 LiDAR Releases Data in ROS
2.7.3 Vision Sensor