Robotics book code

This repo accompanies the text ricopic.one/robotics. It is organized into packages, one for each chapter.

Requirements

The text assumes the use of ROS Melodic Morenia and Ubuntu 18.04.4 LTS (Bionic Beaver). Instructions for installing this development environment are included in the text.

Installation

To make the chapter packages available to your ROS distribution, complete the following steps.

1. Create a ROS workspace with a src directory.
2. Download and unzip or (fork! and) clone this repository to the src directory.

git clone https://github.com/ricopicone/robotics-book-code.git

3. In the workspace, make.

catkin_make

4. Source your workspace.

source devel/setup.bash

The chapter packages are now available to your ROS distribution. If you have rosbash installed (and you should), the chapter packages should appear to roscd and rosls.

Organization

Due to the developing nature of the text and code, chapter numbers are omitted and instead are identified by abbreviated name. For instance, the chapter ROS topics is abbreviated rico_topics. The prefix rico_ is included to differentiate the textbook packages.

Origins

This repository began as a fork of the sample code repository that accompanies the excellent text Programming Robots with ROS, by Morgan Quigley, Brian Gerkey and William D. Smart (O'Reilly Media, Inc., 2015). The original repository was distributed under the Apache 2.0 license. Differences in ROS and Ubuntu software versions, book organizational structure, and code details suggested moving from fork to distinct project, but I express my significant debt to this original repository and gratitude to its authors.