ROS Robotics By Example

Conventions

In this book, you will find a number of text styles that distinguish between different kinds of information. Here are some examples of these styles and an explanation of their meaning.

Code words in text, directory names, filenames, file extensions, and pathnames are shown as follows: "The terminal commands rostopic and rosnode have a number of options".

A block of code is set as follows:

<?xml version='1.0'?>
<robot name="dd_robot">
  <!-- Base Link -->
  <link name="base_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
          <box size="0.5 0.5 0.25"/>
      </geometry>
    </visual>
  </link>
</robot>

To avoid repeating previous code blocks but provide placement of new code blocks, previous code left for reference is abbreviated and new code ...