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Programming Robots with ROS: A Practical Introduction to the Robot Operating System 1st Edition

4.3 4.3 out of 5 stars 78 ratings

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Want to develop novel robot applications, but don’t know how to write a mapping or object-recognition system? You’re not alone, but you’re certainly not without help. By combining real-world examples with valuable knowledge from the Robot Operating System (ROS) community, this practical book provides a set of motivating recipes for solving specific robotics use cases.

Ideal for enthusiasts, from students in robotics clubs to professional robotics scientists and engineers, each recipe describes a complete solution using ROS open source libraries and tools. You’ll learn how to complete tasks described in the recipes, as well as how to configure and recombine components for other tasks. If you’re familiar with Python, you’re ready to go.

  • Learn fundamentals, including key ROS concepts, tools, and patterns
  • Program robots that perform an increasingly complex set of behaviors, using the powerful packages in ROS
  • See how to easily add perception and navigation abilities to your robots
  • Integrate your own sensors, actuators, software libraries, and even a whole robot into the ROS ecosystem
  • Learn tips and tricks for using ROS tools and community resources, debugging robot behavior, and using C++ in ROS

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Editorial Reviews

About the Author

Morgan Quigley is a cofounder of the Open Source Robotics Foundation (OSRF), which develops and maintains the Robot Operating System (ROS). He came to OSRF after receiving a PhD in computer science at Stanford University, where he created one of the ancestors of ROS as part of the Stanford AI Robot (STAIR) project in 2006 and 2007. As it became clear that the future of robotics software was in collaborative development, this effort led him to cofound the ROS project with many other engineers. His research interests include robot software systems, open source software and firmware, embedded systems design, mechatronics, and sensor design.

Brian Gerkey is cofounder and CEO of OSRF. Prior to joining OSRF, he was Director of Open Source Development at Willow Garage. Previously, Brian was a Computer Scientist in the Artificial Intelligence Center at SRI, and before that, a postdoctoral research fellow in the Artificial Intelligence Lab at Stanford University. Brian received his PhD in computer science from the University of Southern California (USC) in 2003, his MS in computer science from USC in 2000, and his BSE in computer engineering, with a secondary major in mathematics and a minor in robotics and automation, from Tulane University in 1998. Since 2008, he has worked on the ROS Project, which develops and releases one of the most widely used robot software platforms in robotics research and education (and soon industry). He is founding and former lead developer on the open source Player Project, which continues to maintain widely used robot simulation and development tools.

Bill Smart is an associate professor at Oregon State University, where he codirects the Robotics program. His research interests span the areas of mobile robotics, machine learning, human–robot interaction, and the interaction between robotics and the law. Bill has been writing software for robots for over two decades, and doing active research and development of robot software architectures for over 15 years. At Oregon State University, he codirects the Robotics program and teaches classes in robotics and computer programming at both the undergraduate and graduate levels. He has been a ROS user since the beginning and was involved in some of the early planning workshops for the system. In 2010–11, he spent a 15-month sabbatical at Willow Garage, developing software for PR2 robots and enjoying the weather in California.

Product details

  • Publisher ‏ : ‎ O'Reilly Media; 1st edition (January 19, 2016)
  • Language ‏ : ‎ English
  • Paperback ‏ : ‎ 445 pages
  • ISBN-10 ‏ : ‎ 1449323898
  • ISBN-13 ‏ : ‎ 978-1449323899
  • Item Weight ‏ : ‎ 1.68 pounds
  • Dimensions ‏ : ‎ 7 x 1.01 x 9.1 inches
  • Customer Reviews:
    4.3 4.3 out of 5 stars 78 ratings

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Customer reviews

4.3 out of 5 stars
78 global ratings

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Customers say

Customers find the book's introduction to ROS concepts clear with lots of examples. They describe the content as excellent, organized, and edited. The language is easy to read and follow, with clear explanations and practice exercises.

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12 customers mention "Introduction"12 positive0 negative

Customers find the book's introduction to ROS concepts clear and easy to follow. They appreciate the practical examples and clear explanations. The book introduces ROS concepts well, but it won't get you very far in learning it.

"...I had some experience about ROS and Gazebo, the practices and explanations are very clear...." Read more

"This book is clear and easy to follow. It gives a good grasp on the ROS fundamentals...." Read more

"Great introduction with lots of examples. A good way to learn ROS is to play with the simulation examples in the book." Read more

"THE BEST resource for learning ROS, very easy to read with easy sample code. Zero confusion." Read more

5 customers mention "Content"5 positive0 negative

Customers like the book's content. They say it's excellent, not bad, and better reviewed, organized, and edited than other books.

"...In addition, I find that (in most cases) the content is better reviewed, organized, and edited than what I typically find on-line...." Read more

"Not a bad book. It is organized very well. It teaches the concept of ROS as well as some tips and what to watch out...." Read more

"Excelente book" Read more

"Best ROS textbook I have ever!..." Read more

3 customers mention "Language"3 positive0 negative

Customers find the book easy to read and follow. They appreciate the clear explanations and sample code. The entire book is written in Python, which is useful for understanding concepts.

"This book is clear and easy to follow. It gives a good grasp on the ROS fundamentals...." Read more

"THE BEST resource for learning ROS, very easy to read with easy sample code. Zero confusion." Read more

"The entire book is written in python, which is cool for concept but it would be nice to see a bit of c++ for context...." Read more

Best ROS textbook I have ever!
5 out of 5 stars
Best ROS textbook I have ever!
I love this book! Although I had some experience about ROS and Gazebo, the practices and explanations are very clear.Here is some errors from source codes from the book (and this can be updated if I find more):- p.101BEFORE: if light_change_time > rospy.Time.now():AFTER: if light_change_time < rospy.Time.now():
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Top reviews from the United States

  • Reviewed in the United States on February 14, 2020
    I'm about a third of the way through - so I'll post an update when I get through the whole thing, but what I've read and worked with so far is great!

    Of course, with most any printed technical books, the versions of software referred to are out of date - but that is to be expected. I like having a printed book along with using on-line information. The printed book gives me the ability to fold corners, make notes, highlight stuff, and easily refer to it while working in an IDE. In addition, I find that (in most cases) the content is better reviewed, organized, and edited than what I typically find on-line.

    I made a choice of substituting the latest stable version of Ubuntu, ROS and other utilities when the book gave a command to install or update something. This has worked well (though took some effort at times). There are a few times when something doesn't quite work, but a quick check at the current version Docs (on-line) solve the problem, and I'm on my way again. If you can't do this, and you want an 'ABC' guide to how to set-up and develop software, then you probably shouldn't be in the software industry.

    As I said, I'll post an update when I get through all of the material, but so far - I highly recommend it.
    5 people found this helpful
    Report
  • Reviewed in the United States on January 25, 2016
    I love this book! Although I had some experience about ROS and Gazebo, the practices and explanations are very clear.

    Here is some errors from source codes from the book (and this can be updated if I find more):

    - p.101
    BEFORE: if light_change_time > rospy.Time.now():
    AFTER: if light_change_time < rospy.Time.now():
    Customer image
    5.0 out of 5 stars Best ROS textbook I have ever!
    Reviewed in the United States on January 25, 2016
    I love this book! Although I had some experience about ROS and Gazebo, the practices and explanations are very clear.

    Here is some errors from source codes from the book (and this can be updated if I find more):

    - p.101
    BEFORE: if light_change_time > rospy.Time.now():
    AFTER: if light_change_time < rospy.Time.now():
    Images in this review
    Customer image
    Customer image
    4 people found this helpful
    Report
  • Reviewed in the United States on January 6, 2019
    This book is clear and easy to follow. It gives a good grasp on the ROS fundamentals. I would like to see some deeper topics included like XACRO and Gazebo custom controllers, but can understand that they weren't included in an introductory text.
    One person found this helpful
    Report
  • Reviewed in the United States on December 11, 2016
    Great introduction with lots of examples. A good way to learn ROS is to play with the simulation examples in the book.
    One person found this helpful
    Report
  • Reviewed in the United States on August 12, 2017
    THE BEST resource for learning ROS, very easy to read with easy sample code. Zero confusion.
    One person found this helpful
    Report
  • Reviewed in the United States on September 2, 2016
    Not a bad book. It is organized very well. It teaches the concept of ROS as well as some tips and what to watch out. However, there are many error in this book which make it annoying since the code won't work first try. The step on running the code may also not be complete.
    4 people found this helpful
    Report
  • Reviewed in the United States on May 22, 2017
    A good basic introduction to ROS, and was helpful with my Robotic head project.
    2 people found this helpful
    Report
  • Reviewed in the United States on April 20, 2018
    The entire book is written in python, which is cool for concept but it would be nice to see a bit of c++ for context. Also my first copy I was sent was falling apart from the binding so they sent me a new one which seems in good shape. But I'll reiterate it's almost entirely python. Which is a good thing but also a bad thing if your looking for Ros cpp help.
    4 people found this helpful
    Report

Top reviews from other countries

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  • Vinicius J.
    5.0 out of 5 stars Excellent
    Reviewed in Brazil on September 10, 2021
    Just need an update for newer versions of ros - like melodic -because some concepts has changed and turtlebot and gazebo has changed a lo5
  • Pedro Najera García
    5.0 out of 5 stars Una referencia indispesable en el repertorio de la robótica
    Reviewed in Mexico on July 29, 2019
    El libro de Quigley sobre ROS tiene la dualidad de ser un recurso muy valioso para un usuario novato en el ámbito de ROS así como una referencia importante para el usuario experimentado. Sin detenerse demasiado en los elementos necesarios para trabajar en el propósito del libro (que es el empleo de múltiples e interesantes algoritmos robóticos de reconocimiento, mapeo y navegación para diferentes plataformas robóticas) enfatiza muy puntualmente sobre el panorama y las herramientas necesarias para trabajar apropiadamente (haciendo gala de una síntesis mínima de los miles de tutoriales que hay en línea) y los recursos adicionales para especializarse en el tema (sirviendo como una guía programada para nuevos temas), transportando al lector desde una narrativa de las potenciales aplicaciones de la robótica, hasta su realización en ambientes simulados o en robots reales. Es un libro didáctico, bien estructurado, ameno y con un lenguaje al alcance de cualquier usuario que manifieste seriedad en sus intenciones de aprender o especializarse en algoritmos de robótica móvil.
  • lagan kapoor
    5.0 out of 5 stars Five Stars
    Reviewed in India on February 21, 2018
    very good book and the devilry is amazing
  • Amazon Customer
    5.0 out of 5 stars Very Happy
    Reviewed in the United Kingdom on February 8, 2017
    Easy to follow and does what it claims to do. Keep the errata (online) close if you're reading this first edition, there are multiple minor issues.
  • Amazon カスタマー
    4.0 out of 5 stars Good beginners introduction to ROS.
    Reviewed in Japan on January 14, 2019
    Really good book, for those who wish to learn ROS.

    Covers architecture, simulation, debugging etc... More importantly it achieves this by learning through programming. The examples found in the book should provide a good foundation for future development and ensure good retention of the concepts.