Preface

Robot Operating Systems (ROS) is an open source middleware framework for the development of complex robotic systems and applications. Despite the fact that the research community is very active in developing applications with ROS and keeps adding to its features, the amount of reference material and documentation is not adequate for the amount of development being done. It is thus the purpose of this book to provide comprehensive and up-to-date information about ROS, which is presently acknowledged as the major development framework for robotics applications.

A brief introduction to the basics and foundations of ROS is addressed in the first few chapters in order to help beginners to get started. Advanced concepts will be dealt with later. First and foremost, the primary concepts around modeling and simulation in Gazebo/RotorS are discussed, which includes mobile robotics, micro aerial vehicles, and robotic arms—the three leading branches of robotic applications. Consequently, autonomous navigation frameworks for both mobile robots and micro aerial vehicles are introduced, which also includes the integration of ORB SLAM and PTAM. The book also covers programming of motion planning and grasping for robot manipulators.

Finally, the book discusses ROS-Industrial (ROS-I), an open source project that extends the advanced capabilities of ROS software to manufacturing industries.

I believe that this book will be a great guide that enables ROS users and developers to learn more about ROS's capabilities and features.