第 1 章 ROS 簡介···································································································1
1.1 ROS 初識··································································································1
1.1.1 ROS 是什么························································································1
1.1.2 ROS 的特點(diǎn)························································································1
1.1.3 ROS 發(fā)行版························································································2
1.2 本書的 ROS 資源 ························································································3
1.3 本章小結(jié) ··································································································3
第 2 章 編程基礎(chǔ)知識······························································································4
2.1 C++基礎(chǔ)知識 ·····························································································4
2.1.1 在 Linux 中使用 C++··············································································4
2.1.2 從實(shí)例中學(xué)習(xí) C++ ·············································································.12
2.2 Python 基礎(chǔ)知識 ······················································································.22
2.2.1 在 Linux 中使用 Python········································································.22
2.2.2 從實(shí)例中學(xué)習(xí) Python ··········································································.26
2.3 本章小結(jié) ·······························································································.39
第 3 章 ROS 概述································································································.40
3.1 ROS 文件系統(tǒng)級······················································································.40
3.1.1 工作空間························································································.41
3.1.2 功能包 ··························································································.41
3.1.3 元功能包························································································.42
3.2 計(jì)算圖級 ·······························································································.43
3.2.1 節(jié)點(diǎn) ·····························································································.43
3.2.2 消息 ·····························································································.44
3.2.3 話題 ·····························································································.44
3.2.4 服務(wù) ·····························································································.45
3.2.5 節(jié)點(diǎn)管理器 ·····················································································.45
3.2.6 參數(shù)服務(wù)器 ·····················································································.45
3.2.7 消息記錄包 ·····················································································.46

3.3 ROS 開源社區(qū)·························································································.46
3.4 本章小結(jié) ·······························································································.46
第 4 章 ROS 環(huán)境搭建··························································································.47
4.1 Ubuntu 安裝····························································································.47
4.1.1 制作 Ubuntu 系統(tǒng)盤············································································.47
4.1.2 安裝 Ubuntu ····················································································.48
4.1.3 Linux 常用操作指令 ···········································································.53
4.1.4 Shell 基礎(chǔ)認(rèn)識··················································································.55
4.1.5 使用文本編輯器················································································.56
4.1.6 Linux 下 ssh 的使用 ············································································.60
4.2 ROS 安裝·······························································································.63
4.3 本章小結(jié) ·····································································