> 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. Its unfortunate that creating better online ROS wiki documentation isn't more prestigious or having any monetary reward as a book does, because in this day and age that is what ROS, and most software projects, really need. I've put a good amount of effort into editing the wiki but it does get tiring. Perhaps having better author attribution on the ROS wiki's conceptual pages would be more motivating. Still, having a book is a good thing too. -- Dave Coleman Correll Robotics Lab | CU Boulder | +1.325.261.3283 | dav.ee On Wed, Oct 22, 2014 at 10:39 PM, Anis Koubaa (COINS) wrote: > > Hi Mike, > > Thank you for your feedback and also thanks to those who expressed their > interest in this project and the proposal intention. > > I totally agree with you on the points you mentioned below and this is why > I think we need to have a comprehensive reference for ROS. > I have been using and developing with ROS for quite some time and although > several topics in ROS have good tutorials to start with, several other > concepts, in particular new concepts such as rosjava, web tools, Android > app, UAV control, arm manipulation, to name a few, are not well documented > and it is pretty hard for someone, even with a good background on ROS > concepts to work on these things. > > I think the points you mentioned below can be addressed in a series of > chapters and provide a systematic approach to ROS enable a robot from > scratch. > > Thank you and look forward to receiving your proposals and feedbacks > Anis > ------------------------------ > *From:* Mike Purvis > *To:* User discussions > *Sent:* Wednesday, October 22, 2014 8:29 PM > *Subject:* Re: [ros-users] Interest and proposal intention survey for a > ROS Handbook > > 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 > > > > _______________________________________________ > ros-users mailing list > ros-users@lists.ros.org > http://lists.ros.org/mailman/listinfo/ros-users > > > > _______________________________________________ > ros-users mailing list > ros-users@lists.ros.org > http://lists.ros.org/mailman/listinfo/ros-users > >