ROS机器人程序设计（原书第2版）补充资料 教案1 ROS Kinetic系统入门
ROS Kinetic在Ubuntu 16.04.01 安装可参考：http://blog.csdn.net/zhangrelay/article/details/51364622
ROS版本特色和官网wiki可参考：http://blog.csdn.net/zhangrelay/article/details/51371427
ROS入门指南可参考：http://blog.csdn.net/zhangrelay/article/details/51381589
课件正文字体为白色，代码和命令为黄色，右下角数字表示对应中文译著（第2版）页码。
第一章课件下载地址：http://download.csdn.net/detail/zhangrelay/9738564
此indigo版本停止更新，稍后会补充kinetic版本教案和演示幻灯片！
课程为双语课程，配套用书为英文版和中文版，但教案与课件均为英中文混合，并补充全部ROS官网资料供课后阅读与学习。
在开始本课程的学习之前，需要掌握机器人学的基本知识和Ubuntu的使用等。
如果想成为机器人工程师，请阅读知乎专栏：机器人工程师学习计划，5星推荐。
https://zhuanlan.zhihu.com/p/22266788
机器人学的基本知识，可参考课件，Ubuntu使用可参考学习体会。网上资源多多，要善于发现，认真学习。
为什么要学习ROS？ROS有哪些功能？如何学习？请参考快速了解ROS。
ROS 8 Year Montage：http://v.youku.com/v_show/id_XMTg2NjIwMDEwNA
有兴趣看上述youku视频短片，都是使用ROS设计研发的。
教案1 ROS Indigo系统入门
教学目的：掌握ROS Indigo的安装与配置
教学重点：Ubuntu软件源设置与更新，功能包安装等
教学难点：ROS环境配置
教学方法：课堂教学，示例演示
课外作业：安装Ubuntu 14.04 + ROS Indigo
学时分配：2学时
教学内容：详细讲解 ROS Indigo PC安装过程，介绍ROS在虚拟机以及嵌入式系统的安装资料。
具体如下：
1 Getting Started with ROS Indigo
Welcome to the first chapter of this book where you will learn how to install ROS, the new standard software framework in robotics. This book is an update on Learning ROS for Robotics Programming, based in ROS Fuerte. With ROS you will learn how to program and control your robots the easy way, using tons of examples and source code that will show you how to use sensors, devices, or add new functionalities such as autonomous navigation, visual perception, and so on to your robot. Thanks to the open source motto and a community that is developing state-of-the-art algorithms and providing new functionalities, ROS is growing every day.
Throughout this book, you will learn the following:
• Installing ROS Indigo framework on a version of Ubuntu
• The basic operation of ROS
• Debugging and visualizing data
• Programming your robot using this framework
• Connecting sensors, actuators, and devices to create your robot
• Creating a 3D model to use in the simulator
• Using the navigation stack to make your robot autonomous
In this chapter, we are going to install a full version of ROS Indigo in Ubuntu. ROS is fully supported and recommended for Ubuntu, and it is experimental for other operative systems. The version used in this book is the 14.04 (Trusty Tahr) and you can download it for free from http://releases.ubuntu.com/14.04/.
You can find a lot of such examples at: http://wiki.ros.org/Robots.
Now we are going to show you how to install ROS Indigo. Although in this book we use Indigo, you may need to install older versions to use some code that works only with these versions.
As we said before, the operating system used in the book is Ubuntu, and we are going to use it throughout this book and with all the tutorials. If you use another operating system and you want to follow the book, the best option is to install a virtual machine with a copy of Ubuntu. At the end of this chapter, we will explain how to install a virtual machine to use the ROS inside it or download a virtual machine with ROS installed.
Anyway, if you want to try installing it in an operating system other than Ubuntu, you can find instructions to do so in many other operating systems at http://wiki.ros.org/cn/indigo/Installation.
ROS Indigo 安装指南
这是最新发行版本ROS Indigo Igloo的安装指南，要安装前一版本ROS Hydro请阅读Hydro 安装指南。
下面是ROS在各种操作系统和特定机器人平台上的安装说明。
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