Cover -- Half Title -- Title -- Copyrights -- Dedication -- Contents -- List Of Figures -- Preface -- Acknowledgements -- Author -- Section I . Ros Foundations -- Chapter 1. Introduction To Ros: Ros Tools And Nodes -- 1.1 Some Ros Concepts -- 1.2 Writing Ros Nodes -- 1.2.1 Creating Ros Packages -- 1.2.2 Writing A Minimal Ros Publisher -- 1.2.3 Compiling Ros Nodes -- 1.2.4 Running Ros Nodes -- 1.2.5 Examining Running Minimal Publisher Node -- 1.2.6 Scheduling Node Timing -- 1.2.7 Writing A Minimal Ros Subscriber -- 1.2.8 Compiling And Running Minimal Subscriber -- 1.2.9 Minimal Subscriber And Publisher Node Summary -- 1.3 More Ros Tools: Catkin Simple, Roslaunch, Rqt Console, And Rosbag -- 1.3.1 Simplifying Cmakelists.txt With Catkin Simple -- 1.3.2 Automating Starting Multiple Nodes -- 1.3.3 Viewing Output In A Ros Console -- 1.3.4 Recording And Playing Back Data With Rosbag -- 1.4 Minimal Simulator And Controller Example -- 1.5 Wrapup -- Chapter 2. Messages, Classes And Servers -- 2.1 Defining Custom Messages -- 2.1.1 Defining A Custom Message -- 2.1.2 Defining A Variablelength Message -- 2.2 Introduction To Ros Services -- 2.2.1 Service Messages -- 2.2.2 Ros Service Nodes -- 2.2.3 Manual Interaction With Ros Services -- 2.2.4 Example Ros Service Client -- 2.2.5 Running Example Service And Client -- 2.3 Using C++ Classes In Ros -- 2.4 Creating Library Modules In Ros -- 2.5 Introduction To Action Servers And Action Clients -- 2.5.1 Creating An Action Server Package -- 2.5.2 Defining Custom Actionserver Messages -- 2.5.3 Designing An Action Client -- 2.5.4 Running The Example Code -- 2.6 Introduction To Parameter Server -- 2.7 Wrap-up -- Section II . Simulation And Visualization In Ros -- Chapter 3. Simulation In Ros -- Summary: 3.1 Simple Twodimensional Robot Simulator -- 3.2 Modeling For Dynamic Simulation -- 3.3 Unified Robot Description Format -- 3.3.1 Kinematic Model -- 3.3.2 Visual Model -- 3.3.3 Dynamic Model -- 3.3.4 Collision Model -- 3.4 Introduction To Gazebo -- 3.5 Minimal Joint Controller -- 3.6 Using Gazebo Plugin For Joint Servo Control -- 3.7 Building Mobilerobot Model -- 3.8 Simulating Mobilerobot Model -- 3.9 Combining Robot Models -- 3.10 Wrap-up -- Chapter 4. Coordinate Transforms In Ros -- 4.1 Introduction To Coordinate Transforms In Ros -- 4.2 Transform Listener -- 4.3 Using Eigen Library -- 4.4 Transforming Ros Datatypes -- 4.5 Wrap-up -- Chapter 5. Sensing And Visualization In Ros -- 5.1 Markers And Interactive Markers In Rviz -- 5.1.1 Markers In Rviz -- 5.1.2 Triad Display Example -- 5.1.3 Interactive Markers In Rviz -- 5.2 Displaying Sensor Values In Rviz -- 5.2.1 Simulating And Displaying Lidar -- 5.2.2 Simulating And Displaying Colorcamera Data -- 5.2.3 Simulating And Displaying Depthcamera Data -- 5.2.4 Selection Of Points In Rviz -- 5.3 Wrap-up -- Section III . Perceptual Processing In Ros -- Chapter 6. Using Cameras In Ros -- 6.1 Projective Transformation Into Camera Coordinates -- 6.2 Intrinsic Camera Calibration -- 6.3 Intrinsic Calibration Of Stereo Cameras -- 6.4 Using Opencv With Ros -- 6.4.1 Example Opencv: Finding Colored Pixels -- 6.4.2 Example Opencv: Finding Edges -- 6.5 Wrap-up -- Chapter 7. Depth Imaging And Point Clouds -- 7.1 Depth From Scanning Lidar -- 7.2 Depth From Stereo Cameras -- 7.3 Depth Cameras -- 7.4 Wrap-up -- Chapter 8. Point Cloud Processing -- 8.1 Simple Pointcloud Display Node -- Summary: 8.2 Loading And Displaying Pointcloud Images From Disk -- 8.3 Saving Published Pointcloud Images To Disk -- 8.4 Interpreting Pointcloud Images With Pcl Methods -- 8.5 Object Finder -- 8.6 Wrap-up -- Section IV . Mobile Robots In Ros -- Chapter 9. Mobilerobot Motion Control -- 9.1 Desired State Generation -- 9.1.1 From Paths To Trajectories -- 9.1.2 A Trajectory Builder Library -- 9.1.3 Openloop Control -- 9.1.4 Desired State Publishing -- 9.2 Robot State Estimation -- 9.2.1 Getting Model State From Gazebo -- 9.2.2 Odometry -- 9.2.3 Combining Odometry, Gps And Inertial Sensing -- 9.2.4 Combining Odometry And Lidar -- 9.3 Differentialdrive Steering Algorithms -- 9.3.1 Robot Motion Model -- 9.3.2 Linear Steering Of A Linear Robot -- 9.3.3 Linear Steering Of A Nonlinear Robot -- 9.3.4 Nonlinear Steering Of A Nonlinear Robot -- 9.3.5 Simulating Nonlinear Steering Algorithm -- 9.4 Steering With Respect To Map Coordinates -- 9.5 Wrap-up -- Chapter 10. Mobilerobot Navigation -- 10.1 Map Making -- 10.2 Path Planning -- 10.3 Example Movebase Client -- 10.4 Modifying Navigation Stack -- 10.5 Wrap-up -- Section V. Robot Arms In Ros -- Chapter 11. Lowlevel Control -- 11.1 A Onedof Prismaticjoint Robot Model -- 11.2 Example Position Controller -- 11.3 Example Velocity Controller -- 11.4 Example Force Controller -- 11.5 Trajectory Messages For Robot Arms -- 11.6 Trajectory Interpolation Action Server For A Sevendof Arm -- 11.7 Wrap-up -- Chapter 12 Robot Arm Kinematics -- 12.1 Forward Kinematics -- 12.2 Inverse Kinematics -- 12.3 Wrap-up -- Chapter 13. Arm Motion Planning -- 13.1 Cartesian Motion Planning -- 13.2 Dynamic Programming For Jointspace Planning -- 13.3 Cartesianmotion Action Servers -- 13.4 Wrap-up -- Summary: Chapter 14. Arm Control With Baxter Simulator -- 14.1 Running Baxter Simulator -- 14.2 Baxter Joints And Topics -- 14.3 Baxter's Grippers -- 14.4 Head Pan Control -- 14.5 Commanding Baxter Joints -- 14.6 Using Ros Joint Trajectory Controller -- 14.7 Jointspace Record And Playback Nodes -- 14.8 Baxter Kinematics -- 14.9 Baxter Cartesian Moves -- 14.10 Wrap-up -- Chapter 15. An Objectgrabber Package -- 15.1 Objectgrabber Code Organization -- 15.2 Object Manipulation Query Service -- 15.3 Generic Gripper Services -- 15.4 Objectgrabber Action Server -- 15.5 Example Objectgrabber Action Client -- 15.6 Wrap-up -- Section VI. System Integration And Higher Level Control -- Chapter 16. Perceptionbased Manipulation -- 16.1 Extrinsic Camera Calibration -- 16.2 Integrated Perception And Manipulation -- 16.3 Wrap-up -- Chapter 17. Mobile Manipulation -- 17.1 Mobile Manipulator Model -- 17.2 Mobile Manipulation -- 17.3 Wrap-up -- Chapter 18. Conclusion -- Bibliography -- Index