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猶記得今年舉辦的ROS 2.0 技術論壇中，有聽到Microsoft在發表的最後面短短的說了一句，未來微軟會讓vscode更加支援ROS

然後從今年尾開始，在vscode中的ROS plugin功能性開始大增!

截至目前為止，新增了幾項方便的功能: 可視化URDF: 你可以直接在vscode中即時的看你的urdf檔案呈現的3d外型如何
直接針對單個節點(rosrun)設中斷點debug 對roslaunch啟動的節點設中斷點debug
尤其是後面2點，改進了ros很難debug的問題XD
(以前只能用GDB之類的東西，學習難度不低....)

感恩微軟~讚嘆微軟~
請參考連結: [1] https://marketplace.visualstudio.com/items?itemName=ms-iot.vscode-ros

[2] https://github.com/ms-iot/vscode-ros/blob/master/doc/debug-support.md#launch
[3] https://discourse.ros.org/t/updating-the-vs-code-extension-for-ros-to-0-6-1/11231

大家好，小弟剛踏入ROS的領域，最近在研究ROS控制braccio機械臂。前面moveit!的模型也已經建好，照著moveit!的Move Group C++ Interface做的時候出了問題。

在Planning to a Pose goal裡target_pose1.orientation.w(跟xyz)原先一開始是照著上面的座標做規劃，結果就像兩個terminal所顯示的，發現應該是座標的位置可能太大導致動作規劃失敗了。

小弟也查過tf的topic，但是我不知道每個link的轉換(translation和rotation)跟程式碼裡面pose的orientation有什麼關係，以至於我無從得知braccio手臂end effector link的座標去規劃動作，請問大大們有什麼方法可以得知這個座標嗎？或是我有什麼觀念需要再補強的呢？感激不盡！

最後一張圖片是有成功使用GUI讓Braccio跟著動，希望之後可以用程式規劃好動作夾可樂罐，目前也已經著手處理intel ZR300深度相機的部分了。

[ROS初學者學習資源]
以下是"ROS In 5 Minutes"系列的影片教程，目前更新到014，簡單介紹和演示一些基礎的ROS知識點:

013 – What is a ROS Package
http://www.theconstructsim.com/ros-5-mins-013-ros-package/
See their basic structure and also see how to navigate among them.

012 – What is ROS Parameter Server?
http://www.theconstructsim.com/ros-5-mins-012-ros-paramete…/
See what it entails and some of the commands we can use to access it within the ROS system:
*rosparam list
*rosparam get

011 – What is catkin_make and how to use it.
http://www.theconstructsim.com/ros-5-mins-011-catkin_make-…/
See what is catkin_make, how it works and which are it’s advantages.

010 – What is ROS_MASTER_URI?
http://www.theconstructsim.com/ros-5-mins-010-ros_master_u…/
See what it represents and how it’s used in the entire ROS system.

009 – How to Launch a ROS node
http://www.theconstructsim.com/ros-5-mins-009-launch-ros-n…/
See four different way nodes can be launched in ROS, and how to check that a node has been launched: rosnode list

008 – What is the difference between rosrun and roslaunch
http://www.theconstructsim.com/ros-5-mins-008-difference-r…/
See what’s the difference between rosrun and roslaunch, when do we use one or another, and what are their advantages.

007 – What is rosrun and how it works?
http://www.theconstructsim.com/ros-5-mins-007-rosrun-works/
See what’s rosrun, how rosrun works and what are its advantages.

006 - What is a ROS launch file?
https://youtu.be/pCBwos89fI0
See what's a launch file and how to launch it.

005 - What Is A ROS Node?
https://youtu.be/DdI38PJ5Zxg
See how to launch a ROS node, what a ROS node does and some commands to get basic and extended information about ROS nodes: rosnode list

004 - What is roscore?
https://youtu.be/ZaSW9TMc24Y
We will be to SHOW what happens when 'roscore' is NOT running and what happens when it is. And then we go briefly over the theory behind this. We'll also look at the command to start 'roscore' and what the output of this command means.

003 - How to create a ROS Publisher
https://youtu.be/xcQcs0wJ7GE
Regarding to the creation of the ROS Publisher, the commands used on the video to create a package named "tutorial" which depends on the "rospy" package were the following: cd catkin_ws/src/, catkin_create_pkg tutorial rospy, roscd tutorial

002 - How to create a ROS Package
https://youtu.be/D7YMNP6P3qM
Regarding to the creation of the ROS Package, the commands used on the video to create a package named "tutorial" which depends on the "rospy" package were the following: cd catkin_ws/src/, catkin_create_pkg tutorial rospy, roscd tutorial

001- How to create a ROS Catkin Workspace
https://youtu.be/JE6QmshipyQ
See how to create a catkin workspace.

翻譯年糕

Share a great book "Mastering ROS for Robotic Programming". It's a little bit advanced but useful for users with experience of the basic concept and operations.

Here is the outline:

Chapter 1: Introduction to ROS and its Package Management
Chapter 2: Working with *3D Robot Modeling* in ROS
Chapter 3: Simulating Robots Using ROS and *Gazebo*
Chapter 4: Using ROS *MoveIt*! and Navigation stack
Chapter 5: Working with Pluginlib, Nodelets and Gazebo plugins
Chapter 6: Writing ROS Controllers and Visualization plugins
Chapter 7: Interfacing I/O boards, sensors and actuators to ROS
Chapter 8: Programming Vision sensors using ROS, Open-CV and PCL
Chapter 9: Building and interfacing a differential drive mobile robot hardware in ROS
Chapter 10: Exploring advanced capabilities of ROS-MoveIt!
Chapter 11: *ROS for Industrial Robots*
Chapter 12: Troubleshooting and best practices in ROS

Source code: https://github.com/qboticslabs/mastering_ros
PDF: http://pdf.th7.cn/…/Mastering%20ROS%20for%20Robotics%20Prog…

分享一本很棒的書"掌握 ros for ros for ros for ros for ros". 它有點先進, 但對於擁有基本概念和操作經驗的使用者來說很有用.

這是大綱:

第1章: ros介紹及其套件管理
第2章: 與*3D機器人模特*在ros合作
第3章: 使用ros和* gazebo模擬機器人
第4章: 使用ros * moveit *! 和導航堆
第5章: 與pluginlib, nodelet和gazebo外掛程式合作
第6章: 寫入ros控制器和視覺化外掛程式
第7章: 將i / o板, 感測器和啓動器與ros介面
第8章: 使用ros, open-cv和pcl的程式設計視覺感測器
第9章: 在ros建造和介面不同驅動移動機器人硬體
第10章: 探索ros-moveit的高階功能!
第11章: *工業機器人的ros *
第12章: ros的疑難排解和最佳做法

原始碼: https://github.com/qboticslabs/mastering_ros
PDF: http://pdf.th7.cn/down/files/1603/Mastering%20ROS%20for%20Robotics%20Programming.pdf

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