Ros Exploration Summary (iii)--ros Novice Tutorial "Turn"

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Directory (?) [-]

1. Installation of a Ros
2. A beginner's Guide to Ros
3. Common functions in the three Ros
1. 1rviz
2. 2tf
3. 3gazebo
4. Four Common Ros robots
1. 1pr2
2. 2TurtleBot
3. 3HuskyErratic

        before we introduce the characteristics and structure of ROS, we are ready to begin to feel the power of Ros. The wiki on the Ros website is very detailed on the beginner's tutorials, so it's best to make sure all the beginner tutorials are up to the basics of what's behind the development. However, Ros is still very difficult for beginners, here, I would like to summarize the course of my studies, but also for other novice as a reference.

I. The installation of ROS         The installation of Ros is certainly the first step in our hands, and the operating system we use here is Ubuntu because the Ros support on Ubuntu is the best.         If you are a novice, I recommend using the "Apt-get" method to install, do not go very simple, according to the wiki, about half an hour can be installed complete version of Ros: (now the latest version of Ros is groovy, But I'm still used to Fuerte)         http://ros.org/wiki/fuerte/Installation/Ubuntu         If you want to challenge the source code compilation, of course there is no problem:        http://ros.org/wiki/fuerte/installation/ubuntu/ source         after installation Run "Roscore", if there is no problem, the installation is successful!   Note: Groovy version of installation:        "Apt-get":http://www.ros.org/wiki/groovy/installation/ubuntu             source code compilation:http://www.ros.org/wiki/groovy/installation/source , Ros Beginner's tutorial         The novice tutorials on the wiki are still very detailed, explaining the code, and newbies must figure out these examples and code:        http:// www.ros.org/wiki/ros/tutorials         The above tutorials are in English, if you feel a little pressure (I am), you can refer to the following two blog part of the translation:              http://blog.sina.com.cn/s/articlelist_1712413141_0_1.html              But to the back of the study is the information of English, or to try to adapt to the document read English.         The programming languages used by ROS are mainly C + + and Python, so there are also feature packs roscpp and Rospy for both languages, and the tutorials for both packages are basically similar to the tutorials above. Read the tutorials above to see the tutorials for both packages:        http://www.ros.org/wiki/rospy_tutorials        http://www.ros.org/wiki/roscpp/Tutorials         Try to finish these tutorials, You should at least understand what the nodes and messages in Ros are for, and if you don't understand them, look at them a few more times.   Three, the common functions          ros in Ros provide a lot of powerful functions, we will continue to go deep after learning the basic knowledge above.          1, Rviz                rviz is a powerful 3D visual chemical in Ros Yes, this thing is going to be used frequently in the back, it must be understood, the detailed tutorial can refer to wiki:         http://www.ros.org/wiki/rviz              We can create our own robots inside and let the robots move. You can also create a map, display a cloud of points, and so on, in short, the things you want to show in Ros can be shown here. Of course, these displays are through the message of the subscription to complete, the robot through the Ros published data, Rviz subscription message to receive data, and then show that the data is also a certain data format, you canRefer to the links below:         http://www.ros.org/wiki/rviz/DisplayTypes         and nbsp                    See the robot above, isn't it cool, in Rviz, such a robot model is described by the URDF file, Specific URDF file How to write, reference wiki:         http://www.ros.org/wiki/urdf           2, tf          TF is a coordinate transformation system in Ros, which is often used in modeling and simulation of robots.          ros has two main coordinate systems:        (1) Fixed coordinate system: reference coordinate system for representing the world;      &NB Sp (2) Target coordinate system: Reference coordinate system relative to camera view.         tutorials See:http://www.ros.org/wiki/tf        3, gazebo        This tool is a physical simulation environment in Ros, gazebo itself is a robot simulation software, based on the Ode physics engine, can simulate the robot and many of the physical characteristics of the environment, this software can be a little understanding, is not necessary for the development of the later.         tutorials See:http://www.ros.org/wiki/simulator_gazebo/tutorials  IV, Ros common robots         1, pr2             to see the application of Ros, the most common robot is PR2. This oneThe robot is the main maintainer of Ros (Willow Garage) for Ros-tailored robots, there are two of computers running Ubuntu and Ros, and two robotic arms and a lot of awesome sensors, the function is very powerful, but the price is quite expensive, rarely seen at home, It's basically in a foreign institute. This robot's Ros package is more, from simulation to navigation, so the code has a relatively high reference value, of course, the novice or first look at the other robot code to challenge PR2 bar, the code is quite complicated.        wiki:http://www.ros.org/wiki/Robots/PR2         2, turtlebot                   This robot is a typical representative of a small mobile robot using Ros, with more data, documents and code, Mainly in the establishment of the model and navigation, the code is relatively easy to understand, can be used as a novice reference to the best robot, the above Rviz shown in the robot is it.         wiki:http://www.ros.org/wiki/robots/turtlebot        3, Husky, erratic& nbsp                      These two robots are similar to Turtlebot robots, and are small wheeled mobile robots, Also available as a beginner learning reference:          http://www.ros.org/wiki/Robots/Husky          http://www.ros.org/wiki/Robots/Erratic                  These tutorials and robots are basically what I studied and learned at that time, summed up in this also let those more confused beginners as a reference, can be as soon as possibleand Master Ros. Again, the novice tutorials on the wiki must be familiar, and the content behind it can be learned while learning.          * This article represents a personal point of view only, as a reference  

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Ros Exploration Summary (iii)--ros Novice Tutorial "Turn"