Printable version (Formatted for US letter paper. Should work well for two-sided printing.)
Full book
Front matter
Chapter 1. Introduction
Chapter 2. Getting started
Chapter 3. Writing ROS programs
Chapter 4. Log messages
Chapter 5. Graph resource names
Chapter 6. Launch files
Chapter 7. Parameters
Chapter 8. Services
Chapter 9. Recording and replaying messages
Chapter 10. Conclusion
Back matter

Acknowledgments
The author is thankful to the friends, colleagues, and students that have pro-
vided feedback and advice about this project.
Students, too numerous to name, from the author's csce574 courses at the
University of South Carolina provided priceless feedback on early versions of
this book. Michael Reynolds, Laura Boccanfuso, G. vd. Hoorn, and Nik El-
son helped the author to correct many mistakes in the text. The author is, of
course, to blame for any remaining errors.
The author is also grateful to the University of South Carolina for providing
a supportive and encouraging environment, and to the U. S. National Science
Foundation for a grant that helped to support the author's time for this project.
Any opinions, findings, and conclusions or recommendations expressed in
this material are those of the author and do not necessarily reflect the views
of the National Science Foundation.