[ROS] Studying Guidance

reference:https://www.zhihu.com/question/35788789

Installation Guide: Http://wiki.ros.org/indigo/Installation/Ubuntu

First, the heart of the students may have noticed that the version here is Indigo and not the latest version of Jade, here are the lessons of blood and tears, the beginning of the teacher told us to choose the Indigo version of the installation.

The second is the problem of the mirror source. In the installation step 1.2 setup your sources.list below the yellow bottom of the mirrors word into the source of the image we can choose, the domestic students recommend the top 3, China Science and Technology, Zhongshan University (why not my big scut!). ), and the easy-to-do robotics lab.

Third, in the 1.4 installation, be sure to read the blue box carefully, if not prompted you want to install these dependent packages, do not install, or the result is the computer can not open the machine, do not ask me how to know.

Now that we have Ros, Ros needs to have a working space of its own, according to Tutorial's first article to set, Ros/tutorials/installingandconfiguringrosenvironment. Note that if Ros cannot find the package, an additional step is required, which is the $source/user directory/catkin_ws/devel/setup.sh. Of course, do not use this trick when there is no problem.

The beginning of the section has been completed, the following is followed by Roswiki tutorial study. Roswiki is quite complete and friendly, the only drawback is that the Chinese version of the Cn-ros Wiki is not complete.

As the highest ticket answered @shutong Jiang, the Ros as a platform tool itself is actually very simple (after all, there is no tool designed to add to our blocking bar ...) ), the difficulty itself is due to the robot control algorithm above. Basic Introduction to Robotics control theory books recommended Richard M. Murray,zexiang Li,s.shankar Sastry co-authored "A mathematical Introduction to robotic" Manipulation".

The basic programming language of ROS is based on C + + and Python.

As I said above, Roswiki's Chinese course is not complete. In order to facilitate everyone to learn, my classmates and I decided to translate a complete Ros tutorial for everyone to learn, translation work is more than half, will be released in Makeshare in the near future | The science and Technology of the Sutra Pavilion above, for interested students to check (if you want to reprint, please contact the original author and the translator in advance).

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reference:https://www.zhihu.com/question/35788789/answer/78468504

Recently we have built a wiki and pkg of Ros for our company's robots.

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January 28, 2016 update
Well, I've done part of it, and I did the Ros inside Package, APIand the related TopicsAnd nodes. In addition to the mechanical arm of the URDF (our own robotic arm, split exhausted me), as well as rivz visual and controllable nodes. has been posted to our git and the official web, interested can look at, perhaps helpful. There are drawings inside!

https://github.com/uarm-developer/uarmforros
http/developer.ufactory.cc/api/ros/
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1, how to learn?
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From the learning process, the simplest way to learn Ros is to see the official Tutorials (ros/tutorials) reading beginner level Basic on the Ros have a relatively clear understanding.

PS, learn all software/platform The simplest and most brutal direct way is crossing net inside tutorials/developer/quick-start/user-manual

Ros Key words: Programming language-C++/python, architecture-distributed operating systems, applications-robotics/simulation/3d reconstruction/embedded, etc.

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What is 2,ros?
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But since the question has been raised by the Lord, let's briefly talk about the working mechanism of ROS:

Simply put, Ros is a DistributedThe operating system communicates and controls through node nodes, subject topic, service services, etc.

This mechanism is like two people chatting, everyone is a node, this software chat function is topic, two people only through to chat, if a person with whatsup, another person with, is not receive the other party information. And the service is like the expression pack or the circle of friends, two people chatting at the same time can also engage in their own fun things that the service, but not necessarily through the chat function is topic.

So learning Ros is a constant understanding of this communication and communication mechanism, and then apply to their own projects on the good.

It's like you've collected the coordinates of an object through a OpenCV, and then you use this coordinate to drive a motor. The way it used to be is to put them all in the same IDE as Visual Studio, but through ROS,OPENCV can be executed in an IDE, the motor control can be executed in the Arduino, each other through the Ros topic communication is good. (for example, before production and sales are in the same office, but now it is possible to separate the two places.) Communicate with each other by telephone)
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3, Learning Order
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In general, a reasonable learning order for poor people (i.e., manipulators without powerful equipment such as Kuka/abb) is
Hardware Genre: Ros--+ arduino/raspberry pi---+sensors + motors/+ servos, +moveit/gazabel, etc.
software Genre: Ros--+ small turtle--+OPENCV + image recognition Small turtle--+ moveit indoor mobile small turtle->

For Howe, if you have a device that is compatible with the Ros library, such as irobot, or a robotic arm, you can easily use a variety of APIs and simulation software.

PS, if you want to buy a book, there is a book called Ros Robot Program Design in China, is translated by two authors in Spain. Don't buy it! Not just because he is the tutorials of the full copy of the official website, and there are bugs everywhere.

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Highlights of 4,ros and other
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The highlights of ROS over the years are three-dimensional reconstruction/interior navigation and reconstruction/PCL and opencv/simulation and human-machine collaboration, etc.

For Ros high-ranking players, here Amway a ROS2015 annual Meeting Roscon 2015 on this page there is a video and PDF of each guest. Most of them are about how their company/field is developed using Ros.

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5, the domestic Ros
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There are still too few people studying ROS in China, and the best place for Ros is precisely allows you to establish a data connection between different software, so if you want to exchange knowledge such as Ros or PCL, you can Private Messages I

Well, I'll continue to build the Ros Wiki and pkg for our company's robots.

Current points of interest:

Strengthen the learning and training robot. Analog Man Standing balance

Visual slam part.

[ROS] Studying Guidance