AGentleIntroductiontoROS
   JasonM.O’Kane
                         JasonM.O’Kane
                         UniversityofSouthCarolina
                         DepartmentofComputerScienceandEngineering
                         315MainStreet
                         Columbia,SC29208
                         http://www.cse.sc.edu/~jokane
                         ©2014,JasonMatthewO’Kane.Allrightsreserved.
                         Thisisversion2.1.6(ab984b3),generatedonApril24,2018.
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                         TypesetbytheauthorusingLT Xandmemoir.cls.
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                         ISBN978-14-92143-23-9
                          Contents in Brief
          ContentsinBrief                   iii
          Contents                          v
          1 Introduction                    1
           In which we introduce ROS, describe how it can be useful, and pre-
           viewtheremainderofthebook.
          2 Gettingstarted                 11
           InwhichweinstallROS,introducesomebasicROSconcepts,andin-
           teract with a workingROSsystem.
          3 WritingROSprograms             39
           In which we write ROS programs to publish and subscribe to mes-
           sages.
          4 Logmessages                    61
           Inwhichwegenerateandviewlogmessages.
          5 Graphresourcenames             77
           In which we learn how ROS resolves the names of nodes, topics, pa-
           rameters,andservices.
                           iii
               CONTENTSINBRIEF
                 6 Launchfiles                      83
                   Inwhichweconfigureandrunmanynodesatonceusinglaunchfiles.
                 7 Parameters                      105
                   Inwhichweconfigurenodesusingparameters.
                 8 Services                        117
                   Inwhichwecallservicesandrespondtoservicerequests.
                 9 Recordingandreplayingmessages   133
                   Inwhichweusebagfilestorecordandreplaymessages.
                 10 Conclusion                     141
                   Inwhichwepreviewsomeadditionaltopics.
                 Index                             145
               iv