本书共有 11 章，分为三个部分：第一部分（第 1～6 章）是机器人操作系统（ROS）的基础，内容包含 ROS 简介、编程基础知识、ROS 概述、ROS 环境搭建、ROS 编程基础和 ROS 常用工具，该部分循序渐进地帮助读者熟悉使用 ROS；第二部分（第 7～10 章）设置了不同类型的应用实验，帮助读者掌握并使用ROS；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，包括编程基础知识、Linux 入门基础知识和 ROS 相关基础知识；实践部分设置了不同类型的应用实验，便于读者入门了解并运用 ROS，并配有相关讲解 PPT、代码等，帮助读者深入理解 ROS 知识，并应用于实践。本书可供学习基于 ROS 的机器人编程的人员使用，也可作为高等院校相关专业学生的参考书。
曾庆喜，南京航空航天大学副教授，主要研究方向为机器人导航、环境感知及控制技术，在国内外期刊和会议上发表论文五十余篇，其中SCI和EI检索三十余篇。申请发明专利60余项、授权16项，出版机器人操作系统（ROS）专著一本。近年来主持完成国家自然科学基金青年基金、中国博士后基金、江苏省企业博士集聚计划项目、江苏省科技支撑计划项目、中央高校基本科研业务费项目以及10余项企业横向合作课题。
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 ·····································································
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