学习R

ros by example -indigo

《ros by example》 -indigo经典ros教材，上下册。介绍机器人操作系统实用案例

ros by example vol 1 indigo

ROS开发的启蒙书籍，你值得拥有；建议同时学习python

ros-by-example-indigo-volume-1

A Do-It-Yourself Guide to the Robot Operating System - System Requirements: ROS INDIGO and Ubuntu 14.04. NOTE: This book covers the SAME MATERIAL as the original; however, it is written for ROS INDIGO. Code samples are written in Python

ros by example indigo volume 1

A Do-It-Yourself Guide to the Robot Operating System - System Requirements: ROS INDIGO and Ubuntu 14.04. NOTE: This book covers the SAME MATERIAL as the original; however, it is written for ROS INDIGO. Code samples are written in Python.

ros_by_example_vol2_indigo.pdf.tar.gz_ROS_ROS_by_example_ros by_

ros by example 2 indigo

ros_by_example

ros操作系统经典书籍，ros__by_example 原版pdf,ros版本为indigo,可以作为自学ros的参考书籍，ros1操作系统在Linux下运行

ros_by_example_vol2_indigo 和vol1_groovy

ros_by_example_vol2_indigo ros_by_example_vol1_groovy 合集，学习入门ros的必备书籍，机器人操作系统

ros_by_example_indigo（两本）

英文版ros_by_example_indigo（v1和v2），供感兴趣的伙伴使用

ros by example

ros by example indigo 外文原版图书，两本合辑，请勿作为商业用途

ros_by_example 例子代码 indigo

《ROS by Example》中的源码 rbx1是ROS By Example 1 (indigo版

ros_by_example_indigo 1 and 2

ros by example 的indigo版本，压缩包中包括了ros by example的第1卷和第2卷。

ros_by_example_vol 1and2_indigo

压缩包内包含ros_by_example_vol 1 and 2_indigo 合集 含目录

ros_by_example_indigo vol1+vol2和源码

ros_by_example_indigo vol1+vol2和相应的源码，ros维基教程之后学习的最佳选择，提供相应配套源码，对ROS学习很有帮助

ROS_by_example

三本ROS的入门资料，包括 ROS_by_example groovy， ROS_by_example hydro， ROS_by_example indigo，希望对大家有用。

ros_by_example_hydro_volume_1.pdf

Content: ROS basics, Simulation, Navigation, Path Planning and SLAM, Speech Recognition and Synthesis, Robot Vision, Dynamixel Servos

ros_by_example_vol2_indigo.pdf

为了方便查看，自己补了书的目录

ros by example indigo 卷1 卷2 合辑

A Do-It-Yourself Guide to the Robot Operating System - System Requirements: ROS INDIGO and Ubuntu 14.04. NOTE: This book covers the SAME MATERIAL as the original; however, it is written for ROS INDIGO. Code samples are written in Python

ros by example for indigo volume 2

当前大多数搞机器人开发的用户所装的ROS是indigo版本，而且是基于Ubuntu14.04的。如果你跑别的版本的rbx代码老出错，不用怀疑，就是代码版本问题！ros by example for indigo volume 1很多地方（包括CSDN）都可以下载，而volume 2则只此一家哦！下面是本书的目录： Contents Preface................................................................................................................vii Printed vs PDF Versions of the Book...............................................................ix 1. Scope of this Volume.......................................................................................1 2. Installing the ros-by-example Code...............................................................3 3. Task Execution using ROS.............................................................................7 3.1 A Fake Battery Simulator.....................................................................................8 3.2 A Common Setup for Running the Examples.....................................................10 3.3 A Brief Review of ROS Actions........................................................................11 3.4 A Patrol Bot Example.........................................................................................12 3.5 The Patrol Bot using a Standard Script...............................................................13 3.6 Problems with the Script Approach....................................................................16 3.7 SMACH or Behavior Trees?..............................................................................17 3.8 SMACH: Tasks as State Machines.....................................................................17 3.8.1 SMACH review.......................................................................................................18 3.8.2 Patrolling a square using SMACH..........................................................................19 3.8.3 Testing SMACH navigation in the ArbotiX simulator............................................23 3.8.4 Accessing results from a SimpleActionState...........................................................26 3.8.5 SMACH Iterators.....................................................................................................27 3.8.6 Executing commands on each transition.................................................................30 3.8.7 Interacting with ROS topics and services................................................................31 3.8.8 Callbacks and Introspection.....................................................................................36 3.8.9 Concurrent tasks: Adding the battery check to the patrol routine...........................36 3.8.10 Comments on the battery checking Patrol Bot......................................................44 3.8.11 Passing user data between states and state machines............................................44 3.8.12 Subtasks and hierarchical state machines..............................................................48 3.8.13 Adding the battery check to the house cleaning robot...........................................54 3.8.14 Drawbacks of state machines................................................................................54 3.9 Behavior Trees...................................................................................................55 3.9.1 Behavior Trees versus Hierarchical State Machines...............................................56 3.1.2 Key properties of behavior trees..............................................................................57 3.9.3 Building a behavior tree..........................................................................................58 3.9.4 Selectors and sequences...........................................................................................60 3.9.5 Customizing behaviors using decorators (meta-behaviors).....................................61 3.10 Programming with Behavior Trees and ROS....................................................63 3.10.1 Installing the pi_trees library.................................................................................63 3.10.2 Basic components of the pi_trees library..............................................................63 3.10.3 ROS-specific behavior tree classes........................................................................68 3.10.4 A Patrol Bot example using behavior trees..........................................................72 3.10.5 A housing cleaning robot using behavior trees.....................................................79 3.10.6 Parallel tasks..........................................................................................................85 3.10.7 Adding and removing tasks...................................................................................87 4. Creating a URDF Model for your Robot....................................................89 4.1 Start with the Base and Wheels..........................................................................90 4.1.1 The robot_state_publisher and joint_state_publisher nodes....................................91 4.1.2 The base URDF/Xacro file......................................................................................92 4.1.3 Alternatives to using the /base_footprint frame......................................................97 4.1.4 Adding the base to the robot model.........................................................................97 4.1.5 Viewing the robot's transform tree..........................................................................98 4.1.6 Using a mesh for the base........................................................................................99 4.2 Simplifying Your Meshes.................................................................................104 4.3 Adding a Torso.................................................................................................104 4.3.1 Modeling the torso.................................................................................................105 4.3.2 Attaching the torso to the base..............................................................................106 4.3.3 Using a mesh for the torso.....................................................................................107 4.3.4 Adding the mesh torso to the mesh base...............................................................108 4.4 Measure, Calculate and Tweak.........................................................................110 4.5 Adding a Camera..............................................................................................110 4.5.1 Placement of the camera........................................................................................111 4.5.2 Modeling the camera.............................................................................................112 4.5.3 Adding the camera to the torso and base...............................................................114 4.5.4 Viewing the transform tree with torso and camera................................................115 4.5.5 Using a mesh for the camera.................................................................................116 4.5.6 Using an Asus Xtion Pro instead of a Kinect........................................................118 4.6 Adding a Laser Scanner (or other Sensors)......................................................119 4.6.1 Modeling the laser scanner....................................................................................119 4.6.2 Attaching a laser scanner (or other sensor) to a mesh base...................................120 4.6.3 Configuring the laser node launch file..................................................................121 4.7 Adding a Pan and Tilt Head..............................................................................122 4.7.1 Using an Asus Xtion Pro instead of a Kinect........................................................124 4.7.2 Modeling the pan-and-tilt head..............................................................................124 4.7.3 Figuring out rotation axes......................................................................................127 4.7.4 A pan and tilt head using meshes on Pi Robot......................................................128 4.7.5 Using an Asus Xtion Pro mesh instead of a Kinect on Pi Robot...........................129 4.8 Adding One or Two Arms................................................................................129 4.8.1 Placement of the arm(s).........................................................................................130 4.8.2 Modeling the arm...................................................................................................130 4.8.3 Adding a gripper frame for planning.....................................................................133 4.8.4 Adding a second arm.............................................................................................134 4.8.5 Using meshes for the arm servos and brackets......................................................136 4.9 Adding a Telescoping Torso to the Box Robot.................................................138 4.10 Adding a Telescoping Torso to Pi Robot........................................................139 4.11 A Tabletop One-Arm Pi Robot.......................................................................140 4.12 Testing your Model with the ArbotiX Simulator............................................142 4.12.1 A fake Box Robot................................................................................................142 4.12.2 A fake Pi Robot...................................................................................................145 4.13 Creating your own Robot Description Package..............................................145 4.13.1 Using rosbuild......................................................................................................145 4.13.2 Using catkin.........................................................................................................146 4.13.3 Copying files from the rbx2_description package...............................................147 4.13.4 Creating a test launch file....................................................................................147 5. Controlling Dynamixel Servos: Take 2......................................................149 5.1 Installing the ArbotiX Packages.......................................................................149 5.2 Launching the ArbotiX Nodes..........................................................................150 5.3 The ArbotiX Configuration File.......................................................................154 5.4 Testing the ArbotiX Joint Controllers in Fake Mode........................................160 5.5 Testing the Arbotix Joint Controllers with Real Servos....................................162 5.6 Relaxing All Servos..........................................................................................165 5.7 Enabling or Disabling All Servos.....................................................................168 6. Robot Diagnostics........................................................................................169 6.1 The DiagnosticStatus Message.........................................................................170 6.2 The Analyzer Configuration File......................................................................171 6.3 Monitoring Dynamixel Servo Temperatures....................................................172 6.3.1 Monitoring the servos for a pan-and-tilt head.......................................................172 6.3.2 Viewing messages on the /diagnostics topic.........................................................175 6.3.3 Protecting servos by monitoring the /diagnostics topic.........................................177 6.4 Monitoring a Laptop Battery............................................................................181 6.5 Creating your Own Diagnostics Messages.......................................................182 6.6 Monitoring Other Hardware States...................................................................188 7. Dynamic Reconfigure..................................................................................191 7.1 Adding Dynamic Parameters to your own Nodes.............................................192 7.1.1 Creating the .cfg file..............................................................................................192 7.1.2 Making the .cfg file executable.............................................................................193 7.1.3 Configuring the CMakeLists.txt file......................................................................194 7.1.4 Building the package.............................................................................................194 7.2 Adding Dynamic Reconfigure Capability to the Battery Simulator Node........194 7.3 Adding Dynamic Reconfigure Client Support to a ROS Node.........................198 7.4 Dynamic Reconfigure from the Command Line...............................................201 8. Multiplexing Topics with mux & yocs.......................................................203 8.1 Configuring Launch Files to Use mux Topics..................................................204 8.2 Testing mux with the Fake TurtleBot...............................................................205 8.3 Switching Inputs using mux Services...............................................................206 8.4 A ROS Node to Prioritize mux Inputs..............................................................207 8.5 The YOCS Controller from Yujin Robot..........................................................210 8.5.1 Adding input sources.............................................................................................213 9. Head Tracking in 3D...................................................................................215 9.1 Tracking a Fictional 3D Target.........................................................................216 9.2 Tracking a Point on the Robot..........................................................................217 9.3 The 3D Head Tracking Node............................................................................220 9.3.1 Real or fake head tracking.....................................................................................220 9.1.2 Projecting the target onto the camera plane...........................................................221 9.4 Head Tracking with Real Servos......................................................................224 9.4.1 Real servos and fake target....................................................................................225 9.4.2 Real servos, real target...........................................................................................226 9.4.3 The nearest_cloud.py node and launch file...........................................................228 10. Detecting and Tracking AR Tags.............................................................233 10.1 Installing and Testing the ar_track_alvar Package..........................................234 10.1.1 Creating your own AR Tags................................................................................234 10.1.2 Generating and printing the AR tags...................................................................236 10.1.3 Launching the camera driver and ar_track_alvar node.......................................236 10.1.4 Testing marker detection.....................................................................................238 10.1.5 Understanding the /ar_pose_marker topic...........................................................238 10.1.6 Viewing the markers in RViz..............................................................................240 10.2 Accessing AR Tag Poses in your Programs....................................................240 10.2.1 The ar_tags_cog.py script....................................................................................240 10.2.2 Tracking the tags with a pan-and-tilt head..........................................................244 10.3 Tracking Multiple Tags using Marker Bundles..............................................245 10.4 Following an AR Tag with a Mobile Robot....................................................245 10.4.1 Running the AR follower script on a TurtleBot .................................................248 10.5 Exercise: Localization using AR Tags............................................................249 11. Arm Navigation using MoveIt!.................................................................251 11.1 Do I Need a Real Robot with a Real Arm?.....................................................252 11.2 Degrees of Freedom.......................................................................................252 11.3 Joint Types.....................................................................................................253 11.4 Joint Trajectories and the Joint Trajectory Action Controller.........................254 11.5 Forward and Inverse Arm Kinematics............................................................257 11.6 Numerical versus Analytic Inverse Kinematics..............................................258 11.7 The MoveIt! Architecture...............................................................................258 11.8 Installing MoveIt!...........................................................................................260 11.9 Creating a Static URDF Model for your Robot .............................................261 11.10 Running the MoveIt! Setup Assistant...........................................................262 11.10.1 Load the robot's URDF model...........................................................................263 11.2.2 Generate the collision matrix.............................................................................264 11.10.3 Add the base_odom virtual joint.......................................................................264 11.10.4 Adding the right arm planning group................................................................265 11.10.5 Adding the right gripper planning group...........................................................269 11.10.6 Defining robot poses..........................................................................................271 11.10.7 Defining end effectors.......................................................................................273 11.10.8 Defining passive joints......................................................................................273 11.10.9 Generating the configuration files.....................................................................273 11.11 Configuration Files Created by the MoveIt! Setup Assistant........................275 11.11.1 The SRDF file (robot_name.srdf)......................................................................275 11.11.2 The fake_controllers.yaml file...........................................................................276 11.11.3 The joint_limits.yaml file..................................................................................277 11.11.4 The kinematics.yaml file...................................................................................278 11.12 The move_group Node and Launch File.......................................................280 11.13 Testing MoveIt! in Demo Mode...................................................................280 11.13.1 Exploring additional features of the Motion Planning plugin...........................284 11.13.2 Re-running the Setup Assistant at a later time..................................................285 11.14 Testing MoveIt! from the Command Line....................................................286 11.15 Determining Joint Configurations and End Effector Poses...........................289 11.16 Using the ArbotiX Joint Trajectory Action Controllers................................292 11.16.1 Testing the ArbotiX joint trajectory action controllers in simulation...............292 11.16.2 Testing the ArbotiX joint trajectory controllers with real servos......................300 11.17 Configuring MoveIt! Joint Controllers.........................................................301 11.17.1 Creating the controllers.yaml file......................................................................302 11.17.2 Creating the controller manager launch file......................................................304 11.18 The MoveIt! API..........................................................................................305 11.19 Forward Kinematics: Planning in Joint Space..............................................306 11.20 Inverse Kinematics: Planning in Cartesian Space.........................................314 11.21 Pointing at or Reaching for a Visual Target..................................................322 11.22 Setting Constraints on Planned Trajectories.................................................324 11.22.1 Executing Cartesian Paths.................................................................................324 11.22.2 Setting other path constraints............................................................................330 11.23 Adjusting Trajectory Speed..........................................................................333 11.24 Adding Obstacles to the Planning Scene......................................................337 11.25 Attaching Objects and Tools to the Robot....................................................346 11.26 Pick and Place..............................................................................................348 11.27 Adding a Sensor Controller..........................................................................360 11.28 Running MoveIt! on a Real Arm..................................................................363 11.28.1 Creating your own launch files and scripts.......................................................364 11.28.2 Running the robot's launch files........................................................................364 11.2.3 Forward kinematics on a real arm.....................................................................365 11.28.4 Inverse kinematics on a real arm.......................................................................366 11.28.5 Cartesian paths on a real arm.............................................................................367 11.28.6 Pick-and-place on a real arm.............................................................................367 11.28.7 Pointing at or reaching for a visual target..........................................................367 11.29 Creating a Custom Fast IK Plugin................................................................368 12. Gazebo: Simulating Worlds and Robots.................................................375 12.1 Installing Gazebo............................................................................................376 12.2 Hardware Graphics Acceleration....................................................................377 12.3 Installing the ROS Gazebo Packages..............................................................378 12.4 Installing the Kobuki ROS Packages..............................................................379 12.5 Installing the UBR-1 Files..............................................................................379 12.6 Using the Gazebo GUI...................................................................................379 12.7 Missing Model Bug in Gazebo 1.9.................................................................381 12.8 Testing the Kobuki Robot in Gazebo..............................................................383 12.8.1 Accessing simulated sensor data.........................................................................385 12.8.2 Adding safety control to the Kobuki...................................................................389 12.8.3 Running the nav_square.py script from Volume 1..............................................391 12.9 Loading Other Worlds and Objects................................................................392 12.10 Testing the UBR-1 Robot in Gazebo............................................................393 12.10.1 UBR-1 joint trajectories.....................................................................................394 12.1.2 The UBR-1 and MoveIt!....................................................................................395 12.11 Real Pick-and-Place using the UBR-1 Perception Pipeline..........................397 12.11.1 Limitations of depth cameras............................................................................398 12.11.2 Running the demo..............................................................................................399 12.11.3 Understanding the real_pick_and_place.py script.............................................404 12.12 Running Gazebo Headless + RViz...............................................................407 13. Rosbridge: Building a Web GUI for your Robot...................................411 13.1 Installing the rosbridge Packages...................................................................411 13.2 Installing the mjpeg_sever Package................................................................412 13.3 Installing a Simple Web Server (mini-httpd)..................................................415 13.4 Starting mini-httpd, rosbridge and mjpeg_server............................................416 13.5 A Simple rosbridge HTML/Javascript GUI....................................................417 13.6 Testing the GUI with a Fake TurtleBot..........................................................420 13.7 Testing the GUI with a Real Robot.................................................................420 13.8 Viewing the Web GUI on another Device on your Network..........................421 13.9 Using the Browser Debug Console.................................................................421 13.10 Understanding the Simple GUI.....................................................................423 13.10.1 The HTML layout: simple_gui.html.................................................................423 13.1.2 The JavaScript code: simple_gui.js...................................................................428 13.11 A More Advanced GUI using jQuery, jqWidgets and KineticJS..................438 13.12 Rosbridge Summary.....................................................................................443 Appendix: Plug and Play USB Devices for ROS: Creating udev Rules......445 13.13 Adding yourself to the dialout Group...........................................................445 13.14 Determining the Serial Number of a Device.................................................446 13.15 UDEV Rules.................................................................................................447 13.16 Testing a UDEV Rule...................................................................................448 13.17 Using a UDEV Device Name in a ROS Configuration File..........................448

ros by example vol 2 indigo.

ros by example vol 2 indigo.ROS实例indigo 第二版　ROS实例

gazebo_2.2_ros_indigo

gazebo_2.2_ros_indigo

Qt 5实现串口调试助手 （源工程文件、0积分下载）

基于Qt 5实现串口调试助手，程序仅供参考，修改了之前十六进制接收0xA0--0xFF有误的问题，新增了窗口自适应（ui文件设置栅格），文件详情可看博客链接https://blog.csdn.net/m0_51294753/article/details/121405661。

【SystemVerilog】路科验证V2学习笔记（全600页）.pdf

SystemVerilog的听课学习笔记，包括讲义截取、知识点记录、注意事项等细节的标注。 目录如下： 第一章 SV环境构建常识 1 1.1 数据类型 1 四、二值逻辑 4 定宽数组 9 foreach 13 动态数组 16 队列 19 关联数组 21 枚举类型 23 字符串 25 1.2 过程块和方法 27 initial和always 30 function逻辑电路 33 task时序电路 35 动态 静态变量 39 1.3 设计例化和连接 45 第二章 验证的方法 393 动态仿真 395 静态检查 397 虚拟模型 403 硬件加速 405 效能验证 408 性能验证 410 第三章 SV组件实现 99 3.1 接口 100 什么是interface 101 接口的优势 108 3.2 采样和数据驱动 112 竞争问题 113 接口中的时序块clocking 123 利于clocking的驱动 133 3.3 测试的开始和结束 136 仿真开始 139 program隐式结束 143 program显式结束 145 软件域program 147 3.4 调试方法 150 第四章 验证的计划 166 4.1 计划概述 166 4.2 计划的内容 173 4.3 计划的实现 185 4.4 计划的进程评估 194 第五章 验证的管理 277 6.1 验证的周期检查 277 6.2 管理三要素 291 6.3 验证的收敛 303 6.4 问题追踪 314 6.5 团队建设 321 6.6 验证的专业化 330 第六章 验证平台的结构 48 2.1 测试平台 49 2.2 硬件设计描述 55 MCDF接口描述 58 MCDF接口时序 62 MCDF寄存器描述 65 2.3 激励发生器 67 channel initiator 72 register initiator 73 2.4 监测器 74 2.5 比较器 81 2.6 验证结构 95 第七章 激励发生封装：类 209 5.1 概述 209 5.2 类的成员 233 5.3 类的继承 245 三种类型权限 protected/local/public 247 this super 253 成员覆盖 257 5.4 句柄的使用 263 5.5 包的使用 269 第八章 激励发生的随机化 340 7.1 随机约束和分布 340 权重分布 353 条件约束 355 7.2 约束块控制 358 7.3 随机函数 366 7.4 数组约束 373 7.5 随机控制 388 第九章 线程与通信 432 9.1 线程的使用 432 9.2 线程的控制 441 三个fork...join 443 等待衍生线程 451 停止线程disable 451 9.3 线程的通信 458 第十章 进程评估：覆盖率 495 10.1 覆盖率类型 495 10.2 功能覆盖策略 510 10.3 覆盖组 516 10.4 数据采样 524 10.5 覆盖选项 544 10.6 数据分析 550 第十一章 SV语言核心进阶 552 11.1 类型转换 552 11.2 虚方法 564 11.3 对象拷贝 575 11.4 回调函数 584 11.5 参数化的类 590 第十二章 UVM简介 392 8.2 UVM简介 414 8.3 UVM组件 420 8.4 UVM环境 425

AutoSAR标准协议4.2.2

AutoSAR标准协议规范4.2.2，里面包含了AutoSAR组织所规定的AutoSAR架构的标准规范协议原文档。对AutoSAR的学习有一定的借鉴意义

光伏-储能并网系统仿真.rar

该文件是清华大学储能课的期末大作业。用SIMULINK搭建了一个完整的光伏-储能并网系统。我的博客中介绍了系统实现的具体方法，欢迎查看！

NPPJSONViewer.zip

NodePad++ JSON格式化插件

GD32替换STM32注意事项.pdf

GD32 介绍与 STM32 兼容性汇总。STM32的代码直接在GD32上运行需要小部分的修改。按教程做对应修改就行哈。

XCP协议的规范文档

XCP协议的原规范文档，主要包含了Part1-5共5个部分，其中第三部分又分为CAN、以太网和Sxl等。对于XCP协议的开发者和学习者有借鉴意义