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1
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1.1 选择 ROS 的理由 .............................................................................. 1
1.2 内容概述 .......................................................................................... 5
1.3 行文约定 .......................................................................................... 7
1.4 更多信息 .......................................................................................... 7
1.5 下一章简介 .................................................................................... 10
2
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2.1 安装 ROS ............................................................................................. 11
2.2 配置账户 ............................................................................................. 14
2.3 使用 TURTLESIM 的小例子 .................................................................... 16
2.4 功能包/软件包（PACKAGES）.............................................................. 18
2.5 节点管理器（THE MASTER） ............................................................... 22
2.6 节点（NODES） ................................................................................... 23
2.7 话题和消息 ......................................................................................... 26
2.8 一个更复杂的例子 ............................................................................. 39
2.9 问题检查 ............................................................................................. 43
2.10 展望 ................................................................................................... 43
3
ROS
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3.1 创建工作区和功能包 ......................................................................... 45
3.2 你好，ROS! ......................................................................................... 48
3.3 发布者程序 ......................................................................................... 55
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