[ros-users] Interest and proposal intention survey for a ROS Handbook

Thu Oct 23 08:27:07 UTC 2014

> 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) <akoubaa at coins-lab.org
> 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 <mpurvis at clearpathrobotics.com>
> *To:* User discussions <ros-users at lists.ros.org>
> *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) <akoubaa at coins-lab.org>
> 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
> <https://docs.google.com/forms/d/1JD78gka1rtotjGhBre-UJcm7QogQWUeURjvx4X028vw/viewform>. 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
> -------------------------------------------------------------
>
>
>
>
>
>
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