Robot Operating System (ROS): The Complete Reference

Contents
ROS2
	Micro-ROS
		1 Introduction
			1.1 New Use-Case for ROS 2
			1.2 Goals of Micro-ROS
			1.3 Goals and Structure of This Chapter
		2 Architecture Overview and Design Rationales
			2.1 Requirements
			2.2 Layer-by-Layer Walkthrough
			2.3 Major Feature Differences to ROS 2
			2.4 Design Rationales
			2.5 Supported RTOS and Microcontrollers
		3 First Application Tutorial
			3.1 Ping-Pong Application with micro_ros_setup
			3.2 Ping-Pong Application with Component for ESP-IDF
			3.3 Build with Docker Container
		4 Middleware Micro XRCE-DDS
			4.1 The DDS-XRCE Standard
			4.2 Micro XRCE-DDS Architecture and Implementation
			4.3 Micro XRCE-DDS in the Micro-ROS Stack
			4.4 Memory Profiling of Micro XRCE-DDS in Micro-ROS
		5 Client Library
			5.1 Programming with rcl and rclc
			5.2 Execution Management with the rclc Executor
			5.3 ROS Graph
			5.4 Advanced Runtime Lifecycle Management
			5.5 Diagnostics
		6 Build and Development Tools
			6.1 Build Tools
			6.2 Benchmarking
		7 Use-Cases
			7.1 Micro-ROS-Enabled GNSS Module by Hydrasystem
			7.2 Off-Road Vehicle Control with Micro-ROS Interface by Bosch Rexroth
			7.3 Smart Warehouse Use-Case by Łukasiewcz-PIAP
		8 Final Remarks
		References
	A Tutorial to Use the MediaPipe Framework with ROS2
		1 Introduction
		2 The MediaPipe Framework
		3 MediaPipe ROS2 Package
			3.1 MediaPipe ROS2 Installation
			3.2 MediaPipe ROS2 Hands Detector
			3.3 MediaPipe ROS2 Pose Detector
			3.4 MediaPipe ROS2 Face Mesh
			3.5 MediaPipe ROS2 Holistic
		4 Example Application
			4.1 Mobile Robot
			4.2 Control Strategy
			4.3 Execution and Results
		5 Conclusion
		References
ROS Frameworks and 
Applications
	Autonomous 3D Thermal Mapping of Disaster Environments for Victims Detection
		1 Introduction
		2 System Overview
		3 Background, Sensors and ROS Configuration
			3.1 ROS Packages, Configuration and Data Acquisition
			3.2 Equipment Calibration
			3.3 Thermal Image Processing and Transmission Using OpenCV and ROS
			3.4 Integration of Thermal and Depth Camera with ROS
			3.5 Neural Network for Victims Identification
			3.6 System Requirements for Execution
		4 Autonomous 3D Thermal Mapping and Victims Identification
			4.1 Point Clouds Acquisition and Processing
			4.2 Victims Detection
		5 Results and Discussion
			5.1 Victims Identification in Post-disaster Environments
		6 Conclusion and Future Work
		References
	Lab-Scale Smart Factory Implementation Using ROS
		1 Introduction
		2 The Smart Factory Kit
		3 Legacy System Upgrade
			3.1 ROS Components and Network
			3.2 ftDuino Integration into the Arduino IDE
		4 ROS Environment Configuration
			4.1 Prerequisite Packages
		5 SCADA System
			5.1 MQTT Protocol
			5.2 ROS-MQTT Bridge Configuration
		6 Test of the System
		7 Conclusion
		References
Cooperation, Sensing and Control
	RosDrive: An Open-Source ROS-Based Vehicular Simulator for STEM Control Systems Classes Tutorial
		1 Introduction
		2 Simulator Architecture
			2.1 Robot Operating System (ROS)
			2.2 Gazebo
			2.3 Scenario and 3D Vehicle Model
			2.4 System's Outputs
		3 Control Algorithms
			3.1 Vehicle Model
			3.2 Cruise Controller (CC)
			3.3 Line Follower
			3.4 Obstacle Detection and Avoidance
		4 Experimental Validation
			4.1 Cruise Controller Implementation
			4.2 Line Follower (LF) Controller
			4.3 Obstacle Detection and Avoidance
		5 Conclusions and Future Works
			5.1 Main Code Repository
			5.2 Main Requirements
			5.3 Setup Project
			5.4 How to Run RosDrive Simulator
			5.5 Optional Configuration
			5.6 RosDrive Video Demonstrations
		References
	Autonomous Laser-Induced Breakdown Spectroscopy System for Chemical and Mineralogical Designation of Interplanetary Materials
		1 Introduction
			1.1 Laser-Induced Breakdown Spectroscopy
			1.2 LIBS Advantages and Disadvantages
			1.3 Calibration-Free LIBS
			1.4 LIBS Applications
			1.5 The Focus of This Study
			1.6 The Robot Operating System
		2 In-Depth LIBS Instrumentation
			2.1 Concept
			2.2 Instrumentation
		3 LIBS System Software
			3.1 Hardware Drivers
			3.2 Autonomy
			3.3 Visualisation
			3.4 User Interface
		4 Software Tutorial
			4.1 Compiling the Software
			4.2 Configuring the Software
			4.3 Running the Software
		5 Experiments and Results
		6 Conclusion
		References
	High Fidelity IMU and Wheel Encoder Models for ROS Based AGV Simulations
		1 Introduction
		2 High Fidelity Wheel Encoder and IMU Models in ROS and Gazebo
			2.1 Run-Time Adjustable Noise in Gazebo Wheel Encoder
			2.2 Run-Time Adjustable Noise in Gazebo IMU Sensor
			2.3 Modeling Sensor Uncertainties/Disturbances Using Poisson Distribution
		3 Simulation Studies
			3.1 Square Route Test
			3.2 Circular Route Test
		4 Conclusion
		References