Content: SECTION I ROS FOUNDATIONSIntroduction to ROS: ROS tools and nodesSome Ros Concepts Writing Ros Nodes Some More Ros Tools: Catkin_Simple, Roslaunch, Rqt_Console, And Rosbag A Minimal Simulator and Controller Example Wrap-Up Messages, Classes and Servers Defining Custom Messages Introduction to Ros Services Using C++ Classes in Ros Creating Library Modules In Ros Introduction to Action Servers and Action ClientsIntroduction to The Parameter Server Wrap-Up SECTION II SIMULATION AND VISUALIZATION IN ROSSimulation in ROS The Simple Two-Dimensional Robot Simulator Modeling for Dynamic Simulation The Unified Robot Description Format Introduction to Gazebo A Minimal Joint Controller Using A Gazebo Plug-In for Joint Servo Control Building A Mobile Robot Model Simulating The Mobile Robot Model Combining Robot Models Wrap-Up Coordinate Transforms in ROS Introduction to Coordinate Transforms In Ros The Transform Listener Using The Eigen Library Transforming Ros Datatypes Wrap-Up Sensing and Visualization in ROS Markers And Interactive Markers In Rviz Displaying Sensor Values in Rviz Wrap-Up SECTION IIIPERCEPTUAL PROCESSING IN ROSUsing Cameras in ROS Projective Transformation Into Camera CoordinatesIntrinsic Camera Calibration Intrinsic Calibration Of Stereo Cameras Using Opencv with Ros Wrap-Up Depth Imaging and Point Clouds Depth from Scanning Lidar Depth from Stereo Cameras Depth Cameras Wrap-Up Point Cloud Processing A Simple Point-Cloud Display Node Loading and Displaying Point-Cloud Images From Disk Saving Published Point-Cloud Images to Disk Interpreting Point-Cloud Images with Pcl MethodsAn Object Finder SECTION IV MOBILE ROBOTS IN ROSMobile-Robot Motion Control Desired State Generation Robot State Estimation Differential-Drive Steering Algorithms Steering with Respect to Map Coordinates Wrap-Up Mobile-Robot Navigation Map Making Path Planning An Example Move-Base Client Modifying The Navigation Stack Wrap-Up SECTION V ROBOT ARMS IN ROSLow-Level Control A One-Dof, Prismatic-Joint Robot Model An Example Position Controller An Example Velocity Controller An Example Force Controller Trajectory Messages for Robot Arms A Trajectory Interpolation Action Server For A 7-Dof Arm Wrap-Up Robot Arm Kinematics Forward Kinematics Inverse Kinematics Wrap-Up Arm Motion Planning Cartesian Motion Planning Dynamic Programming for Joint-Space Planning Cartesian-Motion Action Servers Wrap-UpArm Control with the Baxter Simulator Running The Baxter Simulator Baxter Joints and Topics Baxter's Grippers Head Pan Control Commanding Baxter Joints Using The Ros Joint Trajectory Controller Joint-Space Record and Playback Nodes Baxter Kinematics Baxter Cartesian Moves Wrap-Up An Object-Grabber Package Object-Grabber Code Organization An Object Manipulation Query Service Generic Gripper Services An Object-Grabber Action Server An Example Object-Grabber Action Client Wrap-Up SECTION VI SYSTEM INTEGRATION AND HIGHER-LEVEL CONTROLPerception-Based Manipulation Extrinsic Camera Calibration Integrated Perception and Manipulation Mobile Manipulation Mobile Manipulator Model Mobile Manipulation Wrap-Up Conclusion