Effective Robotics Programming with ROS
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Enrique Fernandez
Latest commit 9b78811 Nov 24, 2017


Effective Robotics Programming with ROS - Third Edition

Effective Robotics Programming with ROS - Third Edition's book tutorials source code.



Install ROS Kinetic on a compatible Ubuntu distro following the official instructions provided here.

Install the OpenCV non-free repository:

sudo apt-get install software-properties-common python-software-properties
sudo add-apt-repository --yes ppa:xqms/opencv-nonfree
sudo apt-get update
sudo apt-get install libopencv-nonfree-dev libopencv-nonfree2.4v5

Create a workspace:

mkdir -p ~/dev/catkin_ws/src
cd ~/dev/catkin_ws/src
wstool init

Download the moveit_simple_grasps repository because it's no longer officially available as a debian:

wstool set moveit_simple_grasps -y --git git@github.com:efernandez/moveit_simple_grasps.git

Download this repository:

wstool set ros_book -y --git git@github.com:rosbook/effective_robotics_programming_with_ros.git
wstool up -j8

Install the dependencies:

cd ..
rosdep install --from-paths src -iy

Build the source code:

source /opt/ros/$(rosversion -d)/setup.bash
catkin build -j4 -p4 --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
source devel/setup.bash


  • Chapter 1: Getting started with ROS (no source code as it covers the installation)
  • Chapter 2: ROS Architecture and Concepts
  • Chapter 3: Visualization and Debugging Tools
  • Chapter 4: 3D Modeling and Simulation
  • Chapter 5: The Navigation Stack - Robot Setups
  • Chapter 6: The Navigation Stack - Beyond Setups
  • Chapter 7: Manipulation with MoveIt!
  • Chapter 8: Using Sensors and Actuators with ROS
  • Chapter 9: Computer Vision
  • Chapter 10: Point Clouds