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ROS1 Note

Chapter 1: Introduction to ROS and Environment Setup

1.1 Introduction to ROS

1.1.1 ROS Concepts

1.1.2 ROS Design Goals

1.1.3 Evolution of ROS

1.2 Installing ROS

1.2.1 Installing ROS

1.2.2 Testing ROS

1.3 Quick ROS Experience

1.3.1 HelloWorld Overview

1.3.2 HelloWorld

1.4 ROS Dev Env Setup

1.4.1 Terminal Installation

1.4.2 Installing VScode

1.4.3 Launch File

1.5 ROS Architecture

1.5.1 ROS File System

1.5.2 Filesystem Commands

1.5.3 Computation Graph

1.6 Chapter Summary

Chapter 2 ROS Communication Mechanisms

2.1 Topic Communication

2.1.1 Topic Communication Theoretical Model

2.1.2 Topic Communication Basic Operations

2.1.3 Topic Communication Custom msg

2.1.4 Topic Communication Custom msg Call

2.2 Service Communication

2.2.1 Service Communication Theoretical Model

2.2.2 Service Communication Custom srv

2.2.3 Service Communication Custom srv Call

2.3 参数服务器

2.3.1 参数服务器理论模型

2.3.2 参数操作(Python)

2.4 常用命令

2.4.1 rosnode

2.4.2 rostopic

2.4.3 rosmsg

2.4.4 rosservice

2.4.5 rossrv

2.4.6 rosparam

2.5 通信机制实操

2.5.1 实操01_话题发布

2.5.2 实操02_话题订阅

2.5.3 实操03_服务调用

2.5.4 实操04_参数设置

2.6 通信机制比较

2.7 本章小结

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1.3 Quick ROS Experience

Write ROS programs to output the text "Hello World" in the console, implemented in both C++ and Python.

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