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机器人操作系统（ROS）

作译者：曾庆喜,胡义轩

出版时间：2023-07 千字数：480 版次：01-01 页数：300

开本：16开装帧： I S B N ：9787121459757

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纸质书定价：￥65.0

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第 1 章 ROS 简介···································································································1 
1.1 ROS 初识··································································································1 
1.1.1 ROS 是什么························································································1 
1.1.2 ROS 的特点························································································1 
1.1.3 ROS 发行版························································································2 
1.2 本书的 ROS 资源 ························································································3 
1.3 本章小结 ··································································································3 
第 2 章 编程基础知识······························································································4 
2.1 C++基础知识 ·····························································································4 
2.1.1 在 Linux 中使用 C++··············································································4 
2.1.2 从实例中学习 C++ ·············································································.12 
2.2 Python 基础知识 ······················································································.22 
2.2.1 在 Linux 中使用 Python········································································.22 
2.2.2 从实例中学习 Python ··········································································.26 
2.3 本章小结 ·······························································································.39 
第 3 章 ROS 概述································································································.40 
3.1 ROS 文件系统级······················································································.40 
3.1.1 工作空间························································································.41 
3.1.2 功能包 ··························································································.41 
3.1.3 元功能包························································································.42 
3.2 计算图级 ·······························································································.43 
3.2.1 节点 ·····························································································.43 
3.2.2 消息 ·····························································································.44 
3.2.3 话题 ·····························································································.44 
3.2.4 服务 ·····························································································.45 
3.2.5 节点管理器 ·····················································································.45 
3.2.6 参数服务器 ·····················································································.45 
3.2.7 消息记录包 ·····················································································.46 

3.3 ROS 开源社区·························································································.46 
3.4 本章小结 ·······························································································.46 
第 4 章 ROS 环境搭建··························································································.47 
4.1 Ubuntu 安装····························································································.47 
4.1.1 制作 Ubuntu 系统盘············································································.47 
4.1.2 安装 Ubuntu ····················································································.48 
4.1.3 Linux 常用操作指令 ···········································································.53 
4.1.4 Shell 基础认识··················································································.55 
4.1.5 使用文本编辑器················································································.56 
4.1.6 Linux 下 ssh 的使用 ············································································.60 
4.2 ROS 安装·······························································································.63 
4.3 本章小结 ·······························································································.67 
第 5 章 ROS 编程基础··························································································.68 
5.1 创建工作空间 ·························································································.68 
5.2 创建功能包 ····························································································.69 
5.3 使用 ROS 节点 ························································································.70 
5.4 ROS 节点交互·························································································.73 
5.5 使用参数服务器 ······················································································.76 
5.6 创建节点 ·······························································································.78 
5.6.1 创建 publisher 节点·············································································.78 
5.6.2 创建 subscriber 节点 ···········································································.80 
5.6.3 编译功能包 ·····················································································.81 
5.6.4 运行 publisher 与 subscriber 节点 ·····························································.83 
5.6.5 自定义话题消息················································································.84 
5.6.6 自定义服务数据················································································.87 
5.7 本章小结 ·······························································································.92 
第 6 章 ROS 常用工具··························································································.93 
6.1 Qt 工具箱·······························································································.93 
6.1.1 日志输出工具 ··················································································.93 
6.1.2 计算图可视化工具 ·············································································.94 
6.1.3 数据绘图工具 ··················································································.94 
6.1.4 参数动态配置工具 ·············································································.95 
6.2 rviz 三维可视化平台 ·················································································.95 
6.2.1 运行 rviz ························································································.96 
6.2.2 数据可视化 ·····················································································.97 
6.3 Gazebo 仿真环境······················································································.98 
6.3.1 安装并运行 Gazebo ············································································.98 
6.3.2 构建仿真环境 ··················································································.99 
6.4 rosbag 数据记录与回放··············································································101 
6.4.1 使用 rosbag ·····················································································101 
6.4.2 回放数据························································································101 
6.5 TF 工具 ·································································································103 
6.5.1 机器人运动学基本原理········································································103 
6.5.2 TF 工具的原理分析 ············································································105 
6.5.3 TF 工具 ·························································································106 
6.5.4 TF 工具应用实例···············································································106 
6.6 本章小结 ······························································································.112 
第 7 章 ROS 基础应用实例 ···················································································.113 
7.1 遥控小海龟运动 ·····················································································.113 
7.1.1 红外遥控器控制小海龟运动 ·································································.113 
7.1.2 游戏手柄控制小海龟运动 ····································································.119 
7.1.3 本节小结························································································127 
7.2 Ublox-GPS 模块的使用及坐标转换·······························································127 
7.2.1 GPS 简介························································································127 
7.2.2 高斯?克吕格投影变换·········································································128 
7.2.3 GPS 的使用·····················································································132 
7.2.4 本节小结························································································135 
7.3 多传感器数据同步 ···················································································136 
7.3.1 message_filters 程序库介绍····································································136 
7.3.2 多传感器数据同步实验········································································136 
7.3.3 本节小结························································································143 
7.4 基于 G29 的移动机器人遥操作实验······························································143 
7.4.1 遥操作介绍 ·····················································································143 
7.4.2 实验环境基础 ··················································································144 
7.4.3 指令解析转发实验 ·············································································144 
7.4.4 方向盘反馈控制实验 ··········································································154 
7.4.5 本节小结························································································158 
第 8 章 ROS 视觉应用实例 ····················································································159 
8.1 机器视觉 ·······························································································159 
8.1.1 相机驱动安装 ··················································································159 
8.1.2 通过 rviz 显示图像·············································································161 
8.1.3 相机内参标定 ··················································································163 
8.1.4 人脸识别实验 ··················································································166 
8.1.5 本节小结························································································172 
8.2 光流模块的测速及定位实验········································································172 
8.2.1 PX4FLOW 的使用 ·············································································172 
8.2.2 PX4FLOW 位置解算并显示···································································175 
8.2.3 本节小结························································································180 
8.3 基于 Autoware 的目标检测实验 ···································································181 
8.3.1 Autoware 简介··················································································181 
8.3.2 安装配置 Autoware·············································································181 
8.3.3 Autoware 测试··················································································189 
8.3.4 利用 yolov3 实现目标检测 ····································································189 
8.3.5 本节小结························································································192 
第 9 章 ROS 机器语音和深度学习实例 ·····································································193 
9.1 在 ROS 中构建一个人机交互机器人 ·····························································193 
9.1.1 AIML 简介······················································································193 
9.1.2 在 ROS 中创建 AIML 人机交互机器人 ······················································194 
9.1.3 运行人机交互机器人 ··········································································200 
9.1.4 本节小结························································································201 
9.2 基于深度学习标志物检测···········································································201 
9.2.1 依赖包安装 ·····················································································201 
9.2.2 数据采集························································································203 
9.2.3 数据标注························································································206 
9.2.4 模型训练························································································210 
9.2.5 在 ROS 中使用训练好的模型 ·································································225 
9.2.6 本节小结························································································233 

第 10 章 ROS 机器人仿真实验················································································234 
10.1 机器人模型构建与仿真 ············································································234 

10.1.1 URDF ··························································································234 
10.1.2 创建 URDF 模型并校验······································································236 
10.1.3 在 rviz 中显示模型············································································242 
10.1.4 在仿真环境中控制小车运动 ·································································243 
10.1.5 本节小结 ······················································································248 

10.2 MoveIt!的使用 ·······················································································248 

10.2.1 MoveIt!系统架构··············································································248 
10.2.2 如何使用 MoveIt!配置助手配置机械臂·····················································251 
10.2.3 启动 MoveIt! ··················································································258 
10.2.4 本节小结 ······················································································260 

10.3 Hector 四旋翼无人机仿真 ·········································································260 

10.3.1 四旋翼无人机简介············································································260 
10.3.2 Hector 四旋翼无人机仿真····································································261 
10.3.3 Hector 仿真环境搭建 ·········································································263 
10.3.4 启动 Hector 仿真实验 ········································································263 
10.3.5 本节小结 ······················································································268 

10.4 机器人 SLAM 及自主导航 ········································································268 

10.4.1 使用 gmapping 构建地图 ·····································································268 
10.4.2 基于地图的定位与自主导航 ·································································274 
10.4.3 安装步骤 ······················································································276 
10.4.4 参数配置文件讲解············································································277 
10.4.5 实验测试 ······················································································279 
10.4.6 本节小结 ······················································································281 
第 11 章 ROS?2 简介 ···························································································282 
11.1 ROS-2 概述···························································································282 
11.2 ROS-2 基础···························································································283 
11.2.1 DDS ····························································································284 
11.2.2 计算图 ·························································································284 
11.2.3 社区层级·······················································································284 
11.3 ROS-2 中的通信·····················································································285 
11.4 安装 ROS-2 ···························································································286 
11.5 本章小结 ······························································································287 
参考文献 ············································································································288

近年来，机器人已经在越来越多的领域得到应用，例如自动驾驶汽车、物流分拣机器人、送餐机器人、陪护机器人、无人机等。机器人系统包括很多复杂功能模块，如环境感知、定位导航、决策控制等，从零开始开发整个机器人系统对技术人员要求非常高，而且工作量巨大。机器人操作系统（ROS）能把这一复杂的开发过程简单化，技术人员可以将更多的精力放在算法模块的迭代上，不需要关心具体配置管理、部署运行、底层通信等功能。 
ROS 是一个运行在 Linux 上的中间件，能够连接操作系统和机器人应用程序。ROS 实际上相当于一个软件工具集，采用分布式架构，可将多个单独设计的节点组合起来并同时运行。各个节点可实现各种不同的功能，并通过 ROS 这一桥梁实现相互通信。ROS 能给开发者提供可视化界面工具，包含 Gazebo、rviz 等仿真和调试工具以及各种基础程序包。此外，ROS 是一个独立于语言的框架，它提供硬件抽象、底层设备控制、常用功能的实现、进程之间的消息传递和包管理。ROS 促进了不同硬件的代码重用，为开发者提供了大量可用的库。 
本书注重理论与实践相结合，理论部分讲解 ROS 的基础知识，包括编程基础、Linux 入门基础知识和 ROS 相关基础只是；实践部分设置了不同类型的应用，并配有相关代码，帮助读者深入理解 ROS 知识，并应用于实践。 
本书共有 11 章，可以分为三个部分。 
第一部分（第 1～6 章）是 ROS 基础。第 1 章是 ROS 简介，主要包括 ROS 的概念和本书配套的代码。第 2 章介绍编程基础知识，主要包括 C++基础知识和 Python 基础知识两部分，着重于对 C++和 Python 的一些基础概念以及基本使用方法的讲解。第 3 章介绍 ROS 的架构和一些重要概念，主要包括 ROS 三个系统层级的介绍。第 4 章介绍了安装 Ubuntu 和 ROS 的方法，包括 Ubuntu 的安装步骤、Linux 的常用操作命令和 ROS 的安装与测试。第 5 章介绍了ROS 编程的基础知识，主要包括创建工作空间、创建功能包、使用节点、节点交互通信、使用参数服务器以及创建节点等。第 6 章介绍了 ROS 常用工具，包括 Qt 工具箱、rviz 三维可视化化平台、Gazebo 仿真环境、rosbag 工具以及 TF 工具等。 
第二部分（第 7～10 章）设置了不同类型的应用实例，帮助读者掌握并使用 ROS。第 7章是 ROS 基础应用实例，主要包括遥控小海龟实验、GPS 的使用与坐标转换、多传感器数据同步和 G29 的遥操作实验。第 8 章介绍了机器视觉应用的实例，主要包括相机驱动安装、相机内参标定、人脸识别、光流模块测速及定位实验和基于 Autoware 的目标检测实验。第 9 章
介绍机器语音和深度学习的实例。第 10 章介绍 ROS 机器人仿真实验实例，包括机器人模型构建与仿真（URDF）、MoveIt！的使用和 Hector 四旋翼无人机仿真。 
第三部分（第 11 章）介绍了新一代机器人操作系统 ROS 2，涉及 ROS 2 的架构、原理和使用方法。 
本书在编写过程中得到了南京航空航天大学的领导和相关老师的大力支持，作者所在的自动化学院野外机器人实验室的于浩楠、欧邦俊、马鑫烨、冀徐芳、郑宇宏、阚宇超、吕查德、高唱等同学在本书撰写和校对时做了大量的工作，大家的共同努力才使本书能够完美地呈现在读者的面前。在此表示诚挚的感谢。本书在编写过程中参考了大量国内外相关著作、教材及案例，涉及的内容已经尽可能地在参考文献中列出，在此，对这些专家学者表示最真诚的感谢，如有遗漏，敬请谅解。 
由于 ROS 涉及的知识面非常广泛，但本书作者水平与视野有限，因此书中难免存在错误或不妥之处，欢迎读者批评指正。

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