Contents in Brief
Contents in Brief iii
Contents v
1 Introduction 1
In which we introduce ROS, describe how it can be useful, and pre-
view the remainder of the book.
2 Getting started 9
In which we install ROS, work with some basic ROS concepts, and
interact with a working ROS system.
3 Writing ROS programs 33
In which we write ROS programs to publish and subscribe to mes-
sages.
4 Logmessages 55
In which we generate and view logmessages.
5 Graph resource names 71
In which we learn how ROS resolves the names of nodes, topics, pa-
rameters, and services.
6 Launch files 79
Inwhichwe configure and runmany nodes at once using launch files.
7 Parameters 101
In which we configure nodes using parameters.
8 Services 113
In which we call services and respond to service requests.
9 Recording and replayingmessages 129
In which we use bag files to record and replaymessages.
10 Conclusion 137
In which we preview some additional topics.
