Hi Anis, I'm not sure how to express this through your form, but something that's badly needed from Clearpath's perspective is a modern take on what the parts are which make up a typical ROS robot. This is beyond the "basics" of building a workspace, creating publishers and subscribers, launching things, etc, but it's not as high-level as specific packages like navigation, moveit, etc. Obviously there's a lot of variability out there, but if someone were to build a robot today, from scratch, to use ROS, they'd ask some fundamental questions like: - How do I build a URDF for my robot? How do I name the links and joints? Should I have a base_footprint? Should I use xacro? - What's the deal with robot_state_publisher, and what's the relationship between the joint_states topic and my TF tree? - Where do the odom and map frames come from? Should I always expect them to be there, or do they come and go depending what's running? How do I handle REP-105 if my robot has a GPS receiver? What about if it has an integrated GPS-INS? - Now that I have a URDF, how do I bring my robot up in Gazebo? How do I give my simulated robot an IMU, LIDAR, and camera? - How does my robot know where it is? What is localization, and what topics are consumed and produced by it? - For a "typical" encoders + imu + LIDAR configuration, what topics should I expect to see, where, and on what frequencies? - How do I set up my robot to use ros_control and the existing suite of available controllers? Should I have a real-time control loop? If so, how do I set that up in Ubuntu? - How should I set up ROS to launch automatically when I turn on my robot? How do I manage logs, node output, and bag files? There's been discussion in the past about specifying some standards for this kind of thing, possibly in a REP, but a great first step would be a book or other resource which presented this material in an approachable, linear kind of way. Mike On 22 October 2014 05:31, Anis Koubaa (COINS) wrote: > Hello ROS users community, > > I am coordinating with Springer publisher to edit a handbook on Robot > Operating System. > There are only a few books on ROS http://wiki.ros.org/Books which mainly > represent a brief introduction to ROS and a few basic applications. This > does not translate the huge amount of work being done in the community and > I feel the need to have a complete reference on the topic. > > The prospective handbook will cover ROS from foundations and basics to > advanced research works from both academia and industry. Tutorials and > research papers will both be sought. The book should cover several robotics > areas including but not limited to robot navigation, UAVs, arm > manipulation, multi-robot communication protocols, Web and mobile > interfaces using ROS, integration of new robotic platform to ROS, computer > vision applications, development of service robots using ROS, development > of new libraries and packages for ROS, etc. Every book chapter should be > accompanied with a working code to be put later in a common repository for > the readers. > > To express your interest to the handbook and your intention of a chapter > proposal, I would like to invite you fill in the following form > . The > proposed chapters are just considered as an initial expression of interest > and will be included in the handbook proposal. It does not mean any kind of > commitment for the author at this stage. An official call for chapters with > instructions and deadline will be announced soon. > > Thank you and look forward to receive your feedback > Anis > > *-------------------------------------------------------------* > *Anis Koubaa* > Associate Professor, Prince Sultan University, Saudi Arabia > Research Associate, CISTER Research Unit, Portugal > http://www.dei.isep.ipp.pt/~akoubaa/ > http://www.iroboapp.org > ------------------------------------------------------------- > > > > > > > _______________________________________________ > ros-users mailing list > ros-users@lists.ros.org > http://lists.ros.org/mailman/listinfo/ros-users > >