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Programming Robots with ROS: A Practical Introduction to the Robot Operating System, by Morgan Quigley, Brian Gerkey, William D. Smart
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Want to develop novel robot applications, but don’t know how to write a mapping or object-recognition system? You’re not alone, but you’re certainly not without help. By combining real-world examples with valuable knowledge from the Robot Operating System (ROS) community, this practical book provides a set of motivating recipes for solving specific robotics use cases.
Ideal for enthusiasts, from students in robotics clubs to professional robotics scientists and engineers, each recipe describes a complete solution using ROS open source libraries and tools. You’ll learn how to complete tasks described in the recipes, as well as how to configure and recombine components for other tasks. If you’re familiar with Python, you’re ready to go.
- Learn fundamentals, including key ROS concepts, tools, and patterns
- Program robots that perform an increasingly complex set of behaviors, using the powerful packages in ROS
- See how to easily add perception and navigation abilities to your robots
- Integrate your own sensors, actuators, software libraries, and even a whole robot into the ROS ecosystem
- Learn tips and tricks for using ROS tools and community resources, debugging robot behavior, and using C++ in ROS
- Sales Rank: #170159 in eBooks
- Published on: 2015-11-16
- Released on: 2015-11-18
- Format: Kindle eBook
About the Author
Morgan Quigley is a cofounder of the Open Source Robotics Foundation (OSRF), which develops and maintains the Robot Operating System (ROS). He came to OSRF after receiving a PhD in computer science at Stanford University, where he created one of the ancestors of ROS as part of the Stanford AI Robot (STAIR) project in 2006 and 2007. As it became clear that the future of robotics software was in collaborative development, this effort led him to cofound the ROS project with many other engineers. His research interests include robot software systems, open source software and firmware, embedded systems design, mechatronics, and sensor design.
Brian Gerkey is cofounder and CEO of OSRF. Prior to joining OSRF, he was Director of Open Source Development at Willow Garage. Previously, Brian was a Computer Scientist in the Artificial Intelligence Center at SRI, and before that, a postdoctoral research fellow in the Artificial Intelligence Lab at Stanford University. Brian received his PhD in computer science from the University of Southern California (USC) in 2003, his MS in computer science from USC in 2000, and his BSE in computer engineering, with a secondary major in mathematics and a minor in robotics and automation, from Tulane University in 1998. Since 2008, he has worked on the ROS Project, which develops and releases one of the most widely used robot software platforms in robotics research and education (and soon industry). He is founding and former lead developer on the open source Player Project, which continues to maintain widely used robot simulation and development tools.
Bill Smart is an associate professor at Oregon State University, where he codirects the Robotics program. His research interests span the areas of mobile robotics, machine learning, human–robot interaction, and the interaction between robotics and the law. Bill has been writing software for robots for over two decades, and doing active research and development of robot software architectures for over 15 years. At Oregon State University, he codirects the Robotics program and teaches classes in robotics and computer programming at both the undergraduate and graduate levels. He has been a ROS user since the beginning and was involved in some of the early planning workshops for the system. In 2010–11, he spent a 15-month sabbatical at Willow Garage, developing software for PR2 robots and enjoying the weather in California.
Most helpful customer reviews
6 of 6 people found the following review helpful.
THE book for ROS, with minor issues in the first print.
By Amazon Customer
Two out of the three authors work at OSRF on ROS, hence the expectations are high. The book is very well structured and starts with the basics (topics, services, actions, how to create packages/workspaces). It continues with fairly advanced examples for mobile robotics, including a stocking robot which uses AR-tags for localization of bins. During the process, important packages such as amcl, navigation stack, MoveIt and libraries such as OpenCL are introduced and used. The last part covers useful tips on how to debug a ROS system and how to use the various ROS tools. All discussed examples can be tried in simulation, hence it is possible to follow the book without having access to an actual robot. Everything is done in python and the last chapter covers how to translate things to C++.
The major strength of the book is its well defined structure: the online tutorials for ROS are good, but apart from the basic portion not well connected. I am an active user of ROS for about one year and still learned a lot with the book. Of course, there are also topics which are not covered (e.g. UAVs, many specific packages), but it gives a great starting point for ROS. Given that, I think it is a great book for both newcomers as well as intermediate users. Plenty of links in the book refer to additional resources for advanced users.
The major issue with the first print of the book is that it seemed hazily compiled in parts: Every 10 pages or so there are very obvious issues: Numbers randomly appearing as the first word of a paragraph, sentences with words missing, sentences with question marks in between where the authors were not sure about the formulation etc. Things which should have definitely captured by proof-reading, even by someone who is not an expert in the domain. Similarly, there are (much fewer) issues with the actual topics such as spelling mistakes in the provided command prompts, or unused code in the provided examples. The book is full of screenshots, which is great for following the material. However, the print quality is surprisingly bad for the price of the book and it is sometimes impossible to see details. Furthermore, authors often refer to colors of the screenshots, but the print version is black and white only. This, of course, is not an issue if you pick up the electronic version which is fully colored.
As bottom line, I believe that this can become THE standard book for ROS, at least if it gets polished better in subsequent prints. I wish some of the content would be used to improve the ROS wiki as well.
3 of 4 people found the following review helpful.
Best ROS textbook I have ever!
By Amazon Customer
I love this book! Although I had some experience about ROS and Gazebo, the practices and explanations are very clear.
Here is some errors from source codes from the book (and this can be updated if I find more):
- p.101
BEFORE: if light_change_time > rospy.Time.now():
AFTER: if light_change_time < rospy.Time.now():
0 of 0 people found the following review helpful.
Best beginner book for learning ROS!
By baravi
If you are planning to learn ROS, then this is THE book! Its very practical & organized and gets you to become very comfortable using ROS if you go chapter by chapter carefully. It introduces you to all the important features of ROS with excellent example problems and code snippets.
It also explains what each line in the code snippets is doing. Since the programming language used is Python, it makes things a lot easier for someone who is not really an advanced programmer. I think you can get the most out of the coding examples if you know a bit of Python and some object oriented programming (classes, objects and stuff). You also need to be comfortable working with the Linux operating system. These are also mentioned in the prerequisites section in the Preface chapter of the book.
Update: I reduced my rating from 5 to 4 stars because I realized that the code examples are broken for chapters 14 & 15.
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