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<div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/628dc8127a0c34728f623b53/bg1.jpg"><div class="c x1 y1 w2 h2"><div class="t m0 x2 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">1.1</div><div class="t m0 x2 h3 y3 ff1 fs0 fc0 sc0 ls0 ws0">1.2</div><div class="t m0 x3 h3 y4 ff1 fs0 fc0 sc0 ls0 ws0">1.2.1</div><div class="t m0 x3 h3 y5 ff1 fs0 fc0 sc0 ls0 ws0">1.2.2</div><div class="t m0 x3 h3 y6 ff1 fs0 fc0 sc0 ls0 ws0">1.2.3</div><div class="t m0 x3 h3 y7 ff1 fs0 fc0 sc0 ls0 ws0">1.2.4</div><div class="t m0 x3 h3 y8 ff1 fs0 fc0 sc0 ls0 ws0">1.2.5</div><div class="t m0 x3 h3 y9 ff1 fs0 fc0 sc0 ls0 ws0">1.2.6</div><div class="t m0 x3 h3 ya ff1 fs0 fc0 sc0 ls0 ws0">1.2.7</div><div class="t m0 x3 h3 yb ff1 fs0 fc0 sc0 ls0 ws0">1.2.8</div><div class="t m0 x2 h3 yc ff1 fs0 fc0 sc0 ls0 ws0">1.3</div><div class="t m0 x3 h3 yd ff1 fs0 fc0 sc0 ls0 ws0">1.3.1</div><div class="t m0 x3 h3 ye ff1 fs0 fc0 sc0 ls0 ws0">1.3.2</div><div class="t m0 x3 h3 yf ff1 fs0 fc0 sc0 ls0 ws0">1.3.3</div><div class="t m0 x3 h3 y10 ff1 fs0 fc0 sc0 ls0 ws0">1.3.4</div><div class="t m0 x3 h3 y11 ff1 fs0 fc0 sc0 ls0 ws0">1.3.5</div><div class="t m0 x3 h3 y12 ff1 fs0 fc0 sc0 ls0 ws0">1.3.6</div><div class="t m0 x3 h3 y13 ff1 fs0 fc0 sc0 ls0 ws0">1.3.7</div><div class="t m0 x3 h3 y14 ff1 fs0 fc0 sc0 ls0 ws0">1.3.8</div><div class="t m0 x2 h3 y15 ff1 fs0 fc0 sc0 ls0 ws0">1.4</div><div class="t m0 x3 h3 y16 ff1 fs0 fc0 sc0 ls0 ws0">1.4.1</div><div class="t m0 x3 h3 y17 ff1 fs0 fc0 sc0 ls0 ws0">1.4.2</div><div class="t m0 x3 h3 y18 ff1 fs0 fc0 sc0 ls0 ws0">1.4.3</div><div class="t m0 x3 h3 y19 ff1 fs0 fc0 sc0 ls0 ws0">1.4.4</div><div class="t m0 x3 h3 y1a ff1 fs0 fc0 sc0 ls0 ws0">1.4.5</div><div class="t m0 x3 h3 y1b ff1 fs0 fc0 sc0 ls0 ws0">1.4.6</div><div class="t m0 x2 h3 y1c ff1 fs0 fc0 sc0 ls0 ws0">1.5</div><div class="t m0 x3 h3 y1d ff1 fs0 fc0 sc0 ls0 ws0">1.5.1</div><div class="t m0 x3 h3 y1e ff1 fs0 fc0 sc0 ls0 ws0">1.5.2</div><div class="t m0 x3 h3 y1f ff1 fs0 fc0 sc0 ls0 ws0">1.5.3</div><div class="t m0 x4 h4 y20 ff2 fs1 fc0 sc0 ls0 ws0">目錄</div><div class="t m0 x5 h5 y2 ff2 fs0 fc1 sc0 ls0 ws0">前言</div><div class="t m0 x5 h5 y3 ff2 fs0 fc1 sc0 ls0 ws0">第一章<span class="ff1">ROS</span>简介</div><div class="t m0 x6 h5 y4 ff2 fs0 fc1 sc0 ls0 ws0">机器人时代的到来</div><div class="t m0 x6 h5 y5 ff1 fs0 fc1 sc0 ls0 ws0">ROS<span class="ff2">发展历程</span></div><div class="t m0 x6 h5 y6 ff2 fs0 fc1 sc0 ls0 ws0">什么是<span class="ff1">ROS</span></div><div class="t m0 x6 h5 y7 ff2 fs0 fc1 sc0 ls0 ws0">安装<span class="ff1">ROS</span></div><div class="t m0 x6 h5 y8 ff2 fs0 fc1 sc0 ls0 ws0">安装<span class="ff1">ROS-Academy-for-Beginners</span>教学包</div><div class="t m0 x6 h5 y9 ff2 fs0 fc1 sc0 ls0 ws0">二进制与源码包</div><div class="t m0 x6 h5 ya ff2 fs0 fc1 sc0 ls0 ws0">安装<span class="ff1">RoboW<span class="_ _0"></span>areStudio</span></div><div class="t m0 x6 h5 yb ff2 fs0 fc1 sc0 ls0 ws0">单元测试一</div><div class="t m0 x5 h5 yc ff2 fs0 fc1 sc0 ls0 ws0">第二章<span class="ff1">ROS</span>文件系统</div><div class="t m0 x6 h5 yd ff1 fs0 fc1 sc0 ls0 ws0">Catkin<span class="ff2">编译系统</span></div><div class="t m0 x6 h5 ye ff1 fs0 fc1 sc0 ls0 ws0">Catkin<span class="ff2">工作空间</span></div><div class="t m0 x6 h5 yf ff1 fs0 fc1 sc0 ls0 ws0">Package<span class="ff2">软件包</span></div><div class="t m0 x6 h3 y10 ff1 fs0 fc1 sc0 ls0 ws0">CMakeLists.txt</div><div class="t m0 x6 h3 y11 ff1 fs0 fc1 sc0 ls0 ws0">package.xml</div><div class="t m0 x6 h5 y12 ff1 fs0 fc1 sc0 ls0 ws0">Metapacakge<span class="ff2">软件元包</span></div><div class="t m0 x6 h5 y13 ff2 fs0 fc1 sc0 ls0 ws0">其他常见文件类型</div><div class="t m0 x6 h5 y14 ff2 fs0 fc1 sc0 ls0 ws0">单元测试二</div><div class="t m0 x5 h5 y15 ff2 fs0 fc1 sc0 ls0 ws0">第三章<span class="ff1">ROS</span>通信架构（一）</div><div class="t m0 x6 h3 y16 ff1 fs0 fc1 sc0 ls0 ws0">Node&Master</div><div class="t m0 x6 h5 y17 ff1 fs0 fc1 sc0 ls0 ws0">Launch<span class="ff2">文件</span></div><div class="t m0 x6 h3 y18 ff1 fs0 fc1 sc0 ls0 ws0">T<span class="_ _1"></span>opic</div><div class="t m0 x6 h3 y19 ff1 fs0 fc1 sc0 ls0 ws0">Msg</div><div class="t m0 x6 h5 y1a ff2 fs0 fc1 sc0 ls0 ws0">常见<span class="ff1">msg</span>类型</div><div class="t m0 x6 h5 y1b ff2 fs0 fc1 sc0 ls0 ws0">单元测试三</div><div class="t m0 x5 h5 y1c ff2 fs0 fc1 sc0 ls0 ws0">第四章<span class="ff1">ROS</span>通信架构（二）</div><div class="t m0 x6 h3 y1d ff1 fs0 fc1 sc0 ls0 ws0">Service</div><div class="t m0 x6 h3 y1e ff1 fs0 fc1 sc0 ls0 ws0">Srv</div><div class="t m0 x6 h3 y1f ff1 fs0 fc1 sc0 ls0 ws0">Parameterserver</div></div><div class="c x1 y21 w2 h6"><div class="t m0 x7 h3 y22 ff1 fs0 fc2 sc0 ls0 ws0">1</div></div><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' 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rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a></div><div class="pi" data-data='{"ctm":[1.611850,0.000000,0.000000,1.611850,0.000000,0.000000]}'></div></div>
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<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/628dc8127a0c34728f623b53/bg2.jpg"><div class="c x1 y1 w2 h2"><div class="t m0 x3 h3 y23 ff1 fs0 fc0 sc0 ls0 ws0">1.5.4</div><div class="t m0 x3 h3 y24 ff1 fs0 fc0 sc0 ls0 ws0">1.5.5</div><div class="t m0 x3 h3 y25 ff1 fs0 fc0 sc0 ls0 ws0">1.5.6</div><div class="t m0 x3 h3 y26 ff1 fs0 fc0 sc0 ls0 ws0">1.5.7</div><div class="t m0 x2 h3 y27 ff1 fs0 fc0 sc0 ls0 ws0">1.6</div><div class="t m0 x3 h3 y28 ff1 fs0 fc0 sc0 ls0 ws0">1.6.1</div><div class="t m0 x3 h3 y29 ff1 fs0 fc0 sc0 ls0 ws0">1.6.2</div><div class="t m0 x3 h3 y2a ff1 fs0 fc0 sc0 ls0 ws0">1.6.3</div><div class="t m0 x3 h3 y2b ff1 fs0 fc0 sc0 ls0 ws0">1.6.4</div><div class="t m0 x3 h3 y2c ff1 fs0 fc0 sc0 ls0 ws0">1.6.5</div><div class="t m0 x3 h3 y2d ff1 fs0 fc0 sc0 ls0 ws0">1.6.6</div><div class="t m0 x3 h3 y2e ff1 fs0 fc0 sc0 ls0 ws0">1.6.7</div><div class="t m0 x2 h3 y2f ff1 fs0 fc0 sc0 ls0 ws0">1.7</div><div class="t m0 x3 h3 y30 ff1 fs0 fc0 sc0 ls0 ws0">1.7.1</div><div class="t m0 x3 h3 y31 ff1 fs0 fc0 sc0 ls0 ws0">1.7.2</div><div class="t m0 x3 h3 y32 ff1 fs0 fc0 sc0 ls0 ws0">1.7.3</div><div class="t m0 x3 h3 y33 ff1 fs0 fc0 sc0 ls0 ws0">1.7.4</div><div class="t m0 x3 h3 y34 ff1 fs0 fc0 sc0 ls0 ws0">1.7.5</div><div class="t m0 x3 h3 y35 ff1 fs0 fc0 sc0 ls0 ws0">1.7.6</div><div class="t m0 x3 h3 y36 ff1 fs0 fc0 sc0 ls0 ws0">1.7.7</div><div class="t m0 x2 h3 y37 ff1 fs0 fc0 sc0 ls0 ws0">1.8</div><div class="t m0 x3 h3 y38 ff1 fs0 fc0 sc0 ls0 ws0">1.8.1</div><div class="t m0 x3 h3 y39 ff1 fs0 fc0 sc0 ls0 ws0">1.8.2</div><div class="t m0 x3 h3 y3a ff1 fs0 fc0 sc0 ls0 ws0">1.8.3</div><div class="t m0 x3 h3 y3b ff1 fs0 fc0 sc0 ls0 ws0">1.8.4</div><div class="t m0 x2 h3 y3c ff1 fs0 fc0 sc0 ls0 ws0">1.9</div><div class="t m0 x3 h3 y3d ff1 fs0 fc0 sc0 ls0 ws0">1.9.1</div><div class="t m0 x3 h3 y3e ff1 fs0 fc0 sc0 ls0 ws0">1.9.2</div><div class="t m0 x3 h3 y3f ff1 fs0 fc0 sc0 ls0 ws0">1.9.3</div><div class="t m0 x3 h3 y40 ff1 fs0 fc0 sc0 ls0 ws0">1.9.4</div><div class="t m0 x3 h3 y41 ff1 fs0 fc0 sc0 ls0 ws0">1.9.5</div><div class="t m0 x3 h3 y42 ff1 fs0 fc0 sc0 ls0 ws0">1.9.6</div><div class="t m0 x8 h3 y43 ff1 fs0 fc0 sc0 ls0 ws0">1.9.6.1</div><div class="t m0 x8 h3 y44 ff1 fs0 fc0 sc0 ls0 ws0">1.9.6.2</div><div class="t m0 x6 h3 y23 ff1 fs0 fc1 sc0 ls0 ws0">Action</div><div class="t m0 x6 h5 y24 ff2 fs0 fc1 sc0 ls0 ws0">常见<span class="ff1">srv</span>类型</div><div class="t m0 x6 h5 y25 ff2 fs0 fc1 sc0 ls0 ws0">常见<span class="ff1">action</span>类型</div><div class="t m0 x6 h5 y26 ff2 fs0 fc1 sc0 ls0 ws0">单元测试四</div><div class="t m0 x5 h5 y27 ff2 fs0 fc1 sc0 ls0 ws0">第五章<span class="ff1"></span>常用工具</div><div class="t m0 x6 h3 y28 ff1 fs0 fc1 sc0 ls0 ws0">Gazebo</div><div class="t m0 x6 h3 y29 ff1 fs0 fc1 sc0 ls0 ws0">RV<span class="_ _0"></span>iz</div><div class="t m0 x6 h3 y2a ff1 fs0 fc1 sc0 ls0 ws0">Rqt</div><div class="t m0 x6 h3 y2b ff1 fs0 fc1 sc0 ls0 ws0">Rosbag</div><div class="t m0 x6 h3 y2c ff1 fs0 fc1 sc0 ls0 ws0">Rosbridge</div><div class="t m0 x6 h3 y2d ff1 fs0 fc1 sc0 ls0 ws0">moveit!</div><div class="t m0 x6 h5 y2e ff2 fs0 fc1 sc0 ls0 ws0">单元测试五</div><div class="t m0 x5 h5 y2f ff2 fs0 fc1 sc0 ls0 ws0">第六章<span class="ff1">roscpp</span></div><div class="t m0 x6 h5 y30 ff1 fs0 fc1 sc0 ls0 ws0">ClientLibrary<span class="ff2">与</span>roscpp</div><div class="t m0 x6 h5 y31 ff2 fs0 fc1 sc0 ls0 ws0">节点初始、关闭与<span class="ff1">NodeHandle</span></div><div class="t m0 x6 h3 y32 ff1 fs0 fc1 sc0 ls0 ws0">T<span class="_ _1"></span>opicinroscpp</div><div class="t m0 x6 h3 y33 ff1 fs0 fc1 sc0 ls0 ws0">Serviceinroscpp</div><div class="t m0 x6 h3 y34 ff1 fs0 fc1 sc0 ls0 ws0">Paraminroscpp</div><div class="t m0 x6 h5 y35 ff2 fs0 fc1 sc0 ls0 ws0">时钟</div><div class="t m0 x6 h5 y36 ff2 fs0 fc1 sc0 ls0 ws0">日志与异常</div><div class="t m0 x5 h5 y37 ff2 fs0 fc1 sc0 ls0 ws0">第七章<span class="ff1">rospy</span></div><div class="t m0 x6 h5 y38 ff1 fs0 fc1 sc0 ls0 ws0">Rospy<span class="ff2">与主要接口</span></div><div class="t m0 x6 h3 y39 ff1 fs0 fc1 sc0 ls0 ws0">T<span class="_ _1"></span>opicinrospy</div><div class="t m0 x6 h3 y3a ff1 fs0 fc1 sc0 ls0 ws0">Serviceinrospy</div><div class="t m0 x6 h5 y3b ff1 fs0 fc1 sc0 ls0 ws0">Param<span class="ff2">与</span>T<span class="_ _0"></span>ime</div><div class="t m0 x5 h5 y3c ff2 fs0 fc1 sc0 ls0 ws0">第八章<span class="ff1">TF</span>与<span class="ff1">URDF</span></div><div class="t m0 x6 h5 y3d ff2 fs0 fc1 sc0 ls0 ws0">认识<span class="ff1">TF</span></div><div class="t m0 x6 h5 y3e ff1 fs0 fc1 sc0 ls0 ws0">TF<span class="ff2">消息</span></div><div class="t m0 x6 h3 y3f ff1 fs0 fc1 sc0 ls0 ws0">tfinc++</div><div class="t m0 x6 h3 y40 ff1 fs0 fc1 sc0 ls0 ws0">tfinpython</div><div class="t m0 x6 h5 y41 ff2 fs0 fc1 sc0 ls0 ws0">统一机器人描述格式</div><div class="t m0 x6 h5 y42 ff2 fs0 fc1 sc0 ls0 ws0">附录：<span class="ff1">TF</span>数学基础</div><div class="t m0 x9 h5 y43 ff2 fs0 fc1 sc0 ls0 ws0">三维空间刚体运动<span class="ff1">---</span>旋转矩阵</div><div class="t m0 x9 h5 y44 ff2 fs0 fc1 sc0 ls0 ws0">三维空间刚体运动<span class="ff1">---</span>欧拉角</div></div><div class="c x1 y21 w2 h6"><div class="t m0 x7 h3 y22 ff1 fs0 fc2 sc0 ls0 ws0">2</div></div><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' 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<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/628dc8127a0c34728f623b53/bg3.jpg"><div class="c x1 y45 w2 h7"><div class="t m0 x8 h3 y46 ff1 fs0 fc0 sc0 ls0 ws0">1.9.6.3</div><div class="t m0 xa h3 y47 ff1 fs0 fc0 sc0 ls0 ws0">1.10</div><div class="t m0 xb h3 y48 ff1 fs0 fc0 sc0 ls0 ws0">1.10.1</div><div class="t m0 xb h3 y49 ff1 fs0 fc0 sc0 ls0 ws0">1.10.2</div><div class="t m0 xb h3 y4a ff1 fs0 fc0 sc0 ls0 ws0">1.10.3</div><div class="t m0 xb h3 y4b ff1 fs0 fc0 sc0 ls0 ws0">1.10.4</div><div class="t m0 xc h3 y4c ff1 fs0 fc0 sc0 ls0 ws0">1.1<span class="_ _2"></span>1</div><div class="t m0 xd h3 y4d ff1 fs0 fc0 sc0 ls0 ws0">1.1<span class="_ _2"></span>1.1</div><div class="t m0 xd h3 y4e ff1 fs0 fc0 sc0 ls0 ws0">1.1<span class="_ _2"></span>1.2</div><div class="t m0 xd h3 y4f ff1 fs0 fc0 sc0 ls0 ws0">1.1<span class="_ _2"></span>1.3</div><div class="t m0 xd h3 y50 ff1 fs0 fc0 sc0 ls0 ws0">1.1<span class="_ _2"></span>1.4</div><div class="t m0 xa h3 y51 ff1 fs0 fc0 sc0 ls0 ws0">1.12</div><div class="t m0 xb h3 y52 ff1 fs0 fc0 sc0 ls0 ws0">1.12.1</div><div class="t m0 xb h3 y53 ff1 fs0 fc0 sc0 ls0 ws0">1.12.2</div><div class="t m0 xb h3 y54 ff1 fs0 fc0 sc0 ls0 ws0">1.12.3</div><div class="t m0 xb h3 y55 ff1 fs0 fc0 sc0 ls0 ws0">1.12.4</div><div class="t m0 xb h3 y56 ff1 fs0 fc0 sc0 ls0 ws0">1.12.5</div><div class="t m0 xb h3 y57 ff1 fs0 fc0 sc0 ls0 ws0">1.12.6</div><div class="t m0 xb h3 y58 ff1 fs0 fc0 sc0 ls0 ws0">1.12.7</div><div class="t m0 xb h3 y59 ff1 fs0 fc0 sc0 ls0 ws0">1.12.8</div><div class="t m0 xb h3 y5a ff1 fs0 fc0 sc0 ls0 ws0">1.12.9</div><div class="t m0 xe h3 y5b ff1 fs0 fc0 sc0 ls0 ws0">1.12.10</div><div class="t m0 xf h3 y5c ff1 fs0 fc0 sc0 ls0 ws0">1.12.1<span class="_ _2"></span>1</div><div class="t m0 xe h3 y5d ff1 fs0 fc0 sc0 ls0 ws0">1.12.12</div><div class="t m0 xe h3 y5e ff1 fs0 fc0 sc0 ls0 ws0">1.12.13</div><div class="t m0 xe h3 y5f ff1 fs0 fc0 sc0 ls0 ws0">1.12.14</div><div class="t m0 xe h3 y60 ff1 fs0 fc0 sc0 ls0 ws0">1.12.15</div><div class="t m0 xe h3 y61 ff1 fs0 fc0 sc0 ls0 ws0">1.12.16</div><div class="t m0 x9 h5 y46 ff2 fs0 fc1 sc0 ls0 ws0">三维空间刚体运动<span class="ff1">---</span>四元数</div><div class="t m0 x5 h5 y47 ff2 fs0 fc1 sc0 ls0 ws0">第九章<span class="ff1">SLAM</span></div><div class="t m0 x6 h5 y48 ff2 fs0 fc1 sc0 ls0 ws0">地图</div><div class="t m0 x6 h3 y49 ff1 fs0 fc1 sc0 ls0 ws0">Gmapping</div><div class="t m0 x6 h3 y4a ff1 fs0 fc1 sc0 ls0 ws0">Karto</div><div class="t m0 x6 h3 y4b ff1 fs0 fc1 sc0 ls0 ws0">Hector</div><div class="t m0 x5 h5 y4c ff2 fs0 fc1 sc0 ls0 ws0">第十章<span class="ff1">Navigation</span></div><div class="t m0 x6 h3 y4d ff1 fs0 fc1 sc0 ls0 ws0">NavigationStack</div><div class="t m0 x6 h3 y4e ff1 fs0 fc1 sc0 ls0 ws0">move_base</div><div class="t m0 x6 h3 y4f ff1 fs0 fc1 sc0 ls0 ws0">costmap</div><div class="t m0 x6 h3 y50 ff1 fs0 fc1 sc0 ls0 ws0">Map_server&Amcl</div><div class="t m0 x5 h5 y51 ff2 fs0 fc1 sc0 ls0 ws0">附录：<span class="ff1">Navigation</span>工具包说明</div><div class="t m0 x6 h3 y52 ff1 fs0 fc1 sc0 ls0 ws0">amcl</div><div class="t m0 x6 h3 y53 ff1 fs0 fc1 sc0 ls0 ws0">local_base_planner</div><div class="t m0 x6 h3 y54 ff1 fs0 fc1 sc0 ls0 ws0">carrot_planner</div><div class="t m0 x6 h3 y55 ff1 fs0 fc1 sc0 ls0 ws0">clear_costmap_recovery</div><div class="t m0 x6 h3 y56 ff1 fs0 fc1 sc0 ls0 ws0">costmap_2d</div><div class="t m0 x6 h3 y57 ff1 fs0 fc1 sc0 ls0 ws0">dwa_local_planner</div><div class="t m0 x6 h3 y58 ff1 fs0 fc1 sc0 ls0 ws0">fake_localization</div><div class="t m0 x6 h3 y59 ff1 fs0 fc1 sc0 ls0 ws0">global_planner</div><div class="t m0 x6 h3 y5a ff1 fs0 fc1 sc0 ls0 ws0">map_server</div><div class="t m0 x6 h3 y5b ff1 fs0 fc1 sc0 ls0 ws0">move_base_msg</div><div class="t m0 x6 h3 y5c ff1 fs0 fc1 sc0 ls0 ws0">move_base</div><div class="t m0 x6 h3 y5d ff1 fs0 fc1 sc0 ls0 ws0">move_slow_and_clear</div><div class="t m0 x6 h3 y5e ff1 fs0 fc1 sc0 ls0 ws0">navfn</div><div class="t m0 x6 h3 y5f ff1 fs0 fc1 sc0 ls0 ws0">nav_core</div><div class="t m0 x6 h3 y60 ff1 fs0 fc1 sc0 ls0 ws0">robot_pose_ekf</div><div class="t m0 x6 h3 y61 ff1 fs0 fc1 sc0 ls0 ws0">rotate_recovery</div></div><div class="c x1 y21 w2 h6"><div class="t m0 x7 h3 y22 ff1 fs0 fc2 sc0 ls0 ws0">3</div></div><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d 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<div id="pf4" class="pf w0 h0" data-page-no="4"><div class="pc pc4 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/628dc8127a0c34728f623b53/bg4.jpg"><div class="c x1 y1 w2 h2"><div class="t m0 x0 h4 y20 ff2 fs1 fc0 sc0 ls0 ws0">中国大学<span class="ff3">MOOC---</span>《机器人操作系统入门》课</div><div class="t m0 x0 h4 y62 ff2 fs1 fc0 sc0 ls0 ws0">程讲义</div><div class="t m0 x0 h8 y11 ff2 fs2 fc0 sc0 ls0 ws0">前言</div><div class="t m0 x0 h5 y63 ff2 fs0 fc0 sc0 ls0 ws0">欢迎来到中国大学<span class="ff1">MOOC---</span><span class="fc1">《机器人操作系统入门》</span>课程，本书是课程的配套讲义，由<span class="fc1">中科</span></div><div class="t m0 x0 h5 y64 ff2 fs0 fc1 sc0 ls0 ws0">院软件所<span class="fc0">和</span>重德智能公司<span class="fc0">共同推出，课程分为十个章节，与视频课程相对应，介绍<span class="ff1">ROS</span>的基</span></div><div class="t m0 x0 h5 y65 ff2 fs0 fc0 sc0 ls0 ws0">本原理和用法。欢迎各位朋友在中国大学<span class="ff1">MOOC</span>平台上选修这门课程。</div><div class="t m0 x0 h5 y66 ff2 fs0 fc0 sc0 ls0 ws0">本讲义希望带给读者最准确、生动、易懂的<span class="ff1">ROS</span>入门指导，为了方便读者操作练习，我们同</div><div class="t m0 x0 h5 y67 ff2 fs0 fc0 sc0 ls0 ws0">时附有配套的<span class="fc1">教学代码示例</span>，欢迎各位下载、学习和分享。</div><div class="t m0 x0 h5 y68 ff2 fs0 fc0 sc0 ls0 ws0">本讲义将长期维护，永久公开。如果你有任何问题，可在<span class="ff1">Github</span>的<span class="ff1">issues</span>里提出，也可以直接</div><div class="t m0 x0 h5 y69 ff2 fs0 fc0 sc0 ls0 ws0">联系我们的邮箱。由于我们课程团队的精力实在有限，本书难免存在错误和瑕疵，欢迎各位</div><div class="t m0 x0 h5 y6a ff2 fs0 fc0 sc0 ls0 ws0">朋友拍砖，我们将不断更新，一直努力。</div><div class="t m0 x0 h8 y40 ff2 fs2 fc0 sc0 ls0 ws0">出品</div></div><div class="c x1 y6b w2 h6"><div class="t m0 x0 h5 y6c ff2 fs0 fc2 sc0 ls0 ws0">前言</div></div><div class="c x1 y21 w2 h6"><div class="t m0 x7 h3 y22 ff1 fs0 fc2 sc0 ls0 ws0">4</div></div><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a></div><div class="pi" data-data='{"ctm":[1.611850,0.000000,0.000000,1.611850,0.000000,0.000000]}'></div></div>
<div id="pf5" class="pf w0 h0" data-page-no="5"><div class="pc pc5 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/628dc8127a0c34728f623b53/bg5.jpg"><div class="c x1 y6d w2 h9"><div class="t m0 x0 h8 y6e ff2 fs2 fc0 sc0 ls0 ws0">作者</div><div class="t m0 x5 h5 y6f ff2 fs0 fc0 sc0 ls0 ws0">柴长坤<span class="ff1"><span class="fc1">chaichangkun@droid.ac.cn</span></span></div><div class="t m0 x5 h5 y70 ff2 fs0 fc0 sc0 ls0 ws0">武延军<span class="ff1"><span class="fc1">yanjun@iscas.ac.cn</span></span></div><div class="t m0 x5 h5 y3e ff2 fs0 fc0 sc0 ls0 ws0">常先明<span class="ff1"><span class="fc1">cxm@droid.ac.cn</span></span></div><div class="t m0 x0 h8 y71 ff2 fs2 fc0 sc0 ls0 ws0">致谢</div><div class="t m0 x5 h5 y72 ff2 fs0 fc0 sc0 ls0 ws0">安传旭<span class="ff1"><span class="fc1">1<span class="_ _2"></span>179735683@qq.com</span></span></div><div class="t m0 x5 h5 y73 ff2 fs0 fc0 sc0 ls0 ws0">韩昊旻<span class="ff1"><span class="fc1">hanhaomin008@126.com</span></span></div><div class="t m0 x5 h5 y74 ff2 fs0 fc0 sc0 ls0 ws0">韩锦飞<span class="ff1"><span class="fc1">hanjf_robin@163.com</span></span></div></div><div class="c x1 y6b w2 h6"><div class="t m0 x0 h5 y6c ff2 fs0 fc2 sc0 ls0 ws0">前言</div></div><div class="c x1 y21 w2 h6"><div class="t m0 x7 h3 y22 ff1 fs0 fc2 sc0 ls0 ws0">5</div></div></div><div class="pi" data-data='{"ctm":[1.611850,0.000000,0.000000,1.611850,0.000000,0.000000]}'></div></div>
