aaronmr / learning_ros_for_robotics_programming_2nd_edition

Code and examples for Learning ROS for Robotics Programming - 2nd Edition

Learning ROS for Robotics Programming - Second Edition

Learning ROS for Robotics Programming - Second Edition book tutorials source code.

Authors

• Enrique Fernández
• Luis Sánchez Crespo
• Anil Mahtani
• Aaron Martínez

Installation

Install ROS Hydro on a compatible Ubuntu distro following the official instructions provided here.

For ROS Indigo use the indigo-devel branch.

For ROS Jade use the jade-devel branch.

Install the OpenCV non-free repository:

sudo add-apt-repository --yes ppa:xqms/opencv-nonfree
sudo apt-get install libopencv-nonfree-dev libopencv-nonfree2.4

Create a workspace:

mkdir -p ~/dev/catkin_ws/src
cd ~/dev/catkin_ws/src
wstool init

Download this repository:

wstool set ros_book --git [email protected]:AaronMR/Learning_ROS_for_Robotics_Programming_2nd_edition.git
wstool up -j8

Install the dependencies:

cd ..
rosdep install --from-paths src -iy

Build the source code (alternatively, you can use catkin build instead of catkin_make):

source /opt/ros/$(rosversion -d)/setup.bash
catkin_make -j4
source devel/setup.bash

Tutorials

• Chapter 1: Getting started with ROS (no source code as it covers the installation)
• Chapter 2: ROS Architecture and Concepts
• Chapter 3: Visualization and Debug Tools
• Chapter 4: Using Sensors and Actuators with ROS
• Chapter 5: Computer Vision
• Chapter 6: Point Clouds
• Chapter 7: 3D Modeling and Simulation
• Chapter 8: The Navigation Stack - Robot Setup
• Chapter 9: The Navigation Stack - Beyond the Setup
• Chapter 10: Manipulation with MoveIt!

learning_ros_for_robotics_programming_2nd_edition's Issues

Run roslaunch chapter8_tutorials gazebo_mapping_robot.launch model:="`rospack find robot1_description`/urdf/robot1_base_04.xacro" error

Hello, when I run the command ~ roslaunch chapter8_tutorials gazebo_mapping_robot.launch model:="rospack find robot1_description/urdf/robot1_base_04.xacro" ~, and the rviz show below:

There is some error, Why??

ros_book installation issue

Hi, @AaronMR ,

My system is ubuntu 12.04 and ROS hydro installed.
I followed your steps from readme
But came across the following issue after "wstool up -j8"

root@milton-OptiPlex-760:~/dev/catkin_ws/src# wstool up -j8
[ros_book] still active
[ros_book] Fetching [email protected]:AaronMR/Learning_ROS_for_Robotics_Programming_2nd_edition.git (version None) to /root/dev/catkin_ws/src/ros_book
Cloning into '/root/dev/catkin_ws/src/ros_book'...
[ros_book] still active
[ros_book] still active
[ros_book] still active
Permission denied (publickey).
fatal: The remote end hung up unexpectedly
Exception caught during install: Error processing 'ros_book' : [ros_book] Checkout of [email protected]:AaronMR/Learning_ROS_for_Robotics_Programming_2nd_edition.git version None into /root/dev/catkin_ws/src/ros_book failed.

ERROR in config: Error processing 'ros_book' : [ros_book] Checkout of [email protected]:AaronMR/Learning_ROS_for_Robotics_Programming_2nd_edition.git version None into /root/dev/catkin_ws/src/ros_book failed.

Any idea to fix it?

Thanks in advance~
Milton

ERROR: cannot launch node of type [gscam/gscam]: gscam

when i
roslaunch chapter5_tutorials gscam.launch
appear：
ERROR: cannot launch node of type [gscam/gscam]: gscam
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/linuxrc/DoubleCamera/src
ROS path [2]=/home/linuxrc/ros/src
ROS path [3]=/opt/ros/indigo/share
ROS path [4]=/opt/ros/indigo/stacks

How can I solve？

/usr/local/lib/libopencv_nonfree.so.2.4.11：对‘cv::ocl::integral(cv::ocl::oclMat const&, cv::ocl::oclMat&)’未定义的引用

/usr/local/lib/libopencv_nonfree.so.2.4.11：对‘cv::ocl::integral(cv::ocl::oclMat const&, cv::ocl::oclMat&)’未定义的引用
I installed libopencv_nonfree successful.
After executing "catkin_make",it shows error.

Fails on Hydro because pcl dependency is not updated properly in package.xml

In the package.xml, the dependency on pcl should be changed from "pcl" to "libpcl-all-dev"
Basically in chapter4 and chapter6 package.xml files.

Or else, cannot move past
rosdep install --from-paths src -iy
ERROR: The following pacakges/stacks could not have thier rosdep keys resovled to system dependencies:
chapter4_tutorials: cannot locate rosdep definition for [pcl]
chapter6_tutorials: cannot locate rosdep definition for [pcl]

To fix this, install pcl via apt-get and then update the package.xml to refer to libpcl-all-dev instead of pcl

indigo problem

when catkin_make is sent, there always cmake invoke problem, in chapter 4 6 9 10, when I delete most of sub packages only 2 and 3 left. catkin_make works. HOW to solve these bugs? thank you.

Update README.md for indigo-devel and jade-devel

Follow the changes in #8 for hydro-devel.

Couldn't find executable

Hi all,
at every rosrun, I am getting this error "[rosrun] Couldn't find executable named example1_b below /home/ashwini/dev/rosbook/chapter2_tutorials".
I am completely new to ros, and executing this as first code from the book. Please help.
Thanks in advance.

change 4 wheels to 3 wheels

hello, I run roslaunch chapter9_tutorials chapter9_configuration_gazebo.launch and roslaunch chapter9_tutorials chapter9_configuration_gazebo.launch in chapter 9.
It works on succeed.

your car has 4 wheels in your example.But I want to change 4 wheels to 3 wheels.

I put the car into 3 wheels and change plugin libgazebo_ros_skid_steer_drive.so to libgazebo_ros_diff_drive.so.

Then I run my .launch file.But it can't works.I wonder where is wrong? So that I can find errors.

exbot@action-Ubuntu:~$ roslaunch urdf_tutorial service_robotx.launch
... logging to /home/exbot/.ros/log/a986ee4a-c65c-11e5-9d65-00404538febd/roslaunch-action-Ubuntu-29673.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://action-Ubuntu:56306/

SUMMARY

PARAMETERS

• /robot_description: <?xml version="1....
• /rosdistro: indigo
• /rosversion: 1.11.16
• /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
spawn_robot (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [29688]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a986ee4a-c65c-11e5-9d65-00404538febd
process[rosout-1]: started with pid [29701]
started core service [/rosout]
process[gazebo-2]: started with pid [29705]
process[joint_state_publisher-3]: started with pid [29716]
process[robot_state_publisher-4]: started with pid [29720]
process[spawn_robot-5]: started with pid [29724]
[ WARN] [1454053699.576836263]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
process[rviz-6]: started with pid [29759]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[ INFO] [1454053699.909351162]: Finished loading Gazebo ROS API Plugin.
�[1;[ INFO] [1454053699.910592988]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
32mMsg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.107
spawn_model script started
[INFO] [WallTime: 1454053700.235329] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1454053700.238664] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1454053700.241862] [0.000000] Calling service /gazebo/spawn_urdf_model
[ INFO] [1454053701.862117756, 0.001000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1454053701.862253741, 0.001000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1454053701.863788869, 0.001000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[INFO] [WallTime: 1454053701.865482] [0.001000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1454053701.908150926, 0.001000000]: Loading gazebo_ros_control plugin
[ INFO] [1454053701.908270058, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /robot
[ INFO] [1454053701.908983627, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[spawn_robot-5] process has finished cleanly
log file: /home/exbot/.ros/log/a986ee4a-c65c-11e5-9d65-00404538febd/spawn_robot-5*.log
[ INFO] [1454053702.134028452, 0.001000000]: Loaded gazebo_ros_control.
[ INFO] [1454053702.137565566, 0.001000000]: Starting plugin DiffDrive(ns = //)!
[ WARN] [1454053702.137646123, 0.001000000]: DiffDrive(ns = //): missing default is na
[ INFO] [1454053702.138981813, 0.001000000]: DiffDrive(ns = //): <tf_prefix> =
[ WARN] [1454053702.139215566, 0.001000000]: DiffDrive(ns = //): missing default is false
[ WARN] [1454053702.139251598, 0.001000000]: DiffDrive(ns = //): missing default is false
[ WARN] [1454053702.139341744, 0.001000000]: DiffDrive(ns = //): missing default is 0
[ WARN] [1454053702.139375080, 0.001000000]: DiffDrive(ns = //): missing default is 5
[ WARN] [1454053702.139500651, 0.001000000]: DiffDrive(ns = //): missing default is 1
[ WARN] [1454053702.139582562, 0.001000000]: GazeboRosDiffDrive Plugin (ns = ) missing , defaults to 1
[ INFO] [1454053702.140966197, 0.001000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel!
[ INFO] [1454053702.145879464, 0.001000000]: DiffDrive(ns = //): Subscribe to cmd_vel!
[ INFO] [1454053702.146724916, 0.001000000]: DiffDrive(ns = //): Advertise odom on odom !
[ INFO] [1454053702.168427005, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1454053702.217701197, 0.069000000]: Physics dynamic reconfigure ready.

exbot@action-Ubuntu:~$ roslaunch urdf_tutorial move_base.launch
... logging to /home/exbot/.ros/log/a986ee4a-c65c-11e5-9d65-00404538febd/roslaunch-action-Ubuntu-30279.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://action-Ubuntu:45686/

SUMMARY

PARAMETERS

• /amcl/gui_publish_rate: 10.0
• /amcl/kld_err: 0.05
• /amcl/kld_z: 0.99
• /amcl/laser_lambda_short: 0.1
• /amcl/laser_likelihood_max_dist: 2.0
• /amcl/laser_max_beams: 30
• /amcl/laser_model_type: likelihood_field
• /amcl/laser_sigma_hit: 0.2
• /amcl/laser_z_hit: 0.5
• /amcl/laser_z_max: 0.05
• /amcl/laser_z_rand: 0.5
• /amcl/laser_z_short: 0.05
• /amcl/max_particles: 5000
• /amcl/min_particles: 500
• /amcl/odom_alpha1: 0.2
• /amcl/odom_alpha2: 0.2
• /amcl/odom_alpha3: 0.8
• /amcl/odom_alpha4: 0.2
• /amcl/odom_alpha5: 0.1
• /amcl/odom_frame_id: odom
• /amcl/odom_model_type: diff
• /amcl/recovery_alpha_fast: 0.0
• /amcl/recovery_alpha_slow: 0.0
• /amcl/resample_interval: 1
• /amcl/transform_tolerance: 0.1
• /amcl/update_min_a: 0.5
• /amcl/update_min_d: 0.2
• /move_base/TrajectoryPlannerROS/acc_lim_th: 3.2
• /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5
• /move_base/TrajectoryPlannerROS/acc_lim_y: 2.5
• /move_base/TrajectoryPlannerROS/holonomic_robot: False
• /move_base/TrajectoryPlannerROS/max_rotational_vel: 0.15
• /move_base/TrajectoryPlannerROS/max_vel_theta: 0.15
• /move_base/TrajectoryPlannerROS/max_vel_x: 0.2
• /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel: 0.01
• /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.01
• /move_base/TrajectoryPlannerROS/min_vel_theta: -0.15
• /move_base/TrajectoryPlannerROS/min_vel_x: 0.05
• /move_base/controller_frequency: 10.0
• /move_base/controller_patiente: 15.0
• /move_base/global_costmap/cost_scaling_factor: 10.0
• /move_base/global_costmap/footprint: [[-0.2, -0.2], [-...
• /move_base/global_costmap/global_frame: /map
• /move_base/global_costmap/inflation_radius: 0.5
• /move_base/global_costmap/observation_sources: scan
• /move_base/global_costmap/obstacle_range: 2.5
• /move_base/global_costmap/raytrace_range: 3.0
• /move_base/global_costmap/robot_base_frame: /base_footprint
• /move_base/global_costmap/scan/clearing: True
• /move_base/global_costmap/scan/data_type: LaserScan
• /move_base/global_costmap/scan/marking: True
• /move_base/global_costmap/scan/max_obstacle_height: 0.4
• /move_base/global_costmap/scan/min_obstacle_height: 0.0
• /move_base/global_costmap/scan/observation_persistence: 0.0
• /move_base/global_costmap/scan/sensor_frame: base_link
• /move_base/global_costmap/scan/topic: /scan
• /move_base/global_costmap/static_map: True
• /move_base/global_costmap/update_frequency: 1.0
• /move_base/local_costmap/cost_scaling_factor: 10.0
• /move_base/local_costmap/footprint: [[-0.2, -0.2], [-...
• /move_base/local_costmap/global_frame: /map
• /move_base/local_costmap/height: 5.0
• /move_base/local_costmap/inflation_radius: 0.5
• /move_base/local_costmap/observation_sources: scan
• /move_base/local_costmap/obstacle_range: 2.5
• /move_base/local_costmap/planner_frequency: 1.0
• /move_base/local_costmap/planner_patiente: 5.0
• /move_base/local_costmap/publish_frequency: 2.0
• /move_base/local_costmap/raytrace_range: 3.0
• /move_base/local_costmap/resolution: 0.02
• /move_base/local_costmap/robot_base_frame: /base_footprint
• /move_base/local_costmap/rolling_window: True
• /move_base/local_costmap/scan/clearing: True
• /move_base/local_costmap/scan/data_type: LaserScan
• /move_base/local_costmap/scan/marking: True
• /move_base/local_costmap/scan/max_obstacle_height: 0.4
• /move_base/local_costmap/scan/min_obstacle_height: 0.0
• /move_base/local_costmap/scan/observation_persistence: 0.0
• /move_base/local_costmap/scan/sensor_frame: base_link
• /move_base/local_costmap/scan/topic: /scan
• /move_base/local_costmap/static_map: False
• /move_base/local_costmap/tranform_tolerance: 0.5
• /move_base/local_costmap/update_frequency: 5.0
• /move_base/local_costmap/width: 5.0
• /rosdistro: indigo
• /rosversion: 1.11.16

NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[map_server-1]: started with pid [30297]
process[amcl-2]: started with pid [30298]
process[move_base-3]: started with pid [30299]
[ INFO] [1454053785.767251271]: Loading map from image "/home/exbot/exercise_ws/src/urdf_tutorial/maps/map.pgm"
[ INFO] [1454053785.904421814]: Requesting the map...
[ WARN] [1454053785.908913035]: Request for map failed; trying again...
[ INFO] [1454053785.969457683]: Read a 4000 X 4000 map @ 0.050 m/cell
[ WARN] [1454053786.008106667, 83.481000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 83.481 timeout was 0.1.
[ INFO] [1454053786.504449542, 83.978000000]: Sending map
[ INFO] [1454053786.538720846, 84.002000000]: Received a 4000 X 4000 map @ 0.050 m/pix

[ INFO] [1454053786.743236283, 84.205000000]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1454053786.925931934, 84.384000000]: Done initializing likelihood field model.
[ WARN] [1454053791.116613930, 88.550000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1454053796.203622617, 93.607000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.102 timeout was 0.1.
[ WARN] [1454053801.279153197, 98.660000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1454053802.155324605, 99.530000000]: No laser scan received (and thus no pose updates have been published) for 99.530000 seconds. Verify that data is being published on the /scan topic.
[ WARN] [1454053806.370387338, 103.727000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1454053811.452745478, 108.786000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101 timeout was 0.1.
^C[move_base-3] killing on exit
[amcl-2] killing on exit
[map_server-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Following is my plugin libgazebo_ros_diff_drive.so

Thank you.

OpenCV nonfree-repository

Hello,
I am unable to install openCV-nonfree repository on ubuntu precise (12.04). While running sudo apt-get upadte I am getting this, I have attached a screenshot here.

When I have worked on the issue, I found this:

and further..

So, now my question is : openCV nonfree-repository is available only for "trusty" and no-more available for precise or I am getting it wrong!

Sorry if it looks like silly but I'm not getting any solution for it :)

Thanks in advance :)

problem running "$ roslaunch chapter8_tutorials gazebo_mapping_robot.launch"

When I try to run the following, the rviz will not show up.

$ roslaunch chapter8_tutorials gazebo_mapping_robot.launch
model:="rospack find robot1_description/urdf/robot1_base_04.xacro"

I put a line:

It works, but when I try to move it, there is an arrow moving, not the robot.

Update README.md

It has the old repo name and should mention the branches for each ROS distro.

problem running "$ roslaunch chapter8_tutorials display_xacro.launch"

When I try to run the following example, there is no "display_xacro.launch":

$ roslaunch chapter8_tutorials display_xacro.launch model:="rospack find chapter8_tutorials/urdf/robot1_base_04.xacro"

The following works:

$ roslaunch robot1_description display_state_pub.launch model:="rospack find chapter8_tutorials/urdf/robot1_base_04.xacro"

The "state_xacro.launch" also works, it is the same as display_state_pub.launch.

Error when using pcl_visualize2.cpp

I am trying to run pcl_visualize2.cpp from chapter6_tutorials.
I built with catkin_make and the run with rosrun but, after I get the below messages:

[addPointCloud] A PointCloud with id <output> already exists! Please choose a different id and retry.

and it doesn’t show anything.

I have to mentioned that I am new in PCL but, however every other tutorial runs fine.

Thanks in advance

Build fails because of missed dependencies (OpenCV non-free, ...)

I am getting the following error, but not sure why. I do have opencv installed, but how to make sure it can find it:
/home/default/dev/catkin_ws/src/ros_book/chapter5_tutorials/src/homography.cpp:16:39: fatal error: opencv2/nonfree/nonfree.hpp: No such file or directory
#include <opencv2/nonfree/nonfree.hpp>

this code cannot run in ubuntu14.04+indigo

this code cannot run in ubuntu14.04+indigo?
why i successful catkin_make
appear erro:

ERROR: cannot launch node of type [gscam/gscam]: gscam
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/linuxrc/DoubleCamera/src
ROS path [2]=/home/linuxrc/ros/src
ROS path [3]=/opt/ros/indigo/share
ROS path [4]=/opt/ros/indigo/stacks

Whether mean these code cannot run in ubuntu14.04+indigo?

play_motion package dependency in the Jade branch

To whom it may concern,
following the installation instruction and moving to origin/jade-devel,
I got the following error messages after executing "rosdep install --from-paths src -iy"

rosbook_arm_bringup: Cannot locate rosdep definition for [play_motion]
rosbook_arm_hardware_gazebo: Cannot locate rosdep definition for [gazebo_ros_control]
rosbook_arm_pick_and_place: Cannot locate rosdep definition for [moveit_simple_grasps]
chapter6_tutorials: Cannot locate rosdep definition for [pcl]
chapter4_tutorials: Cannot locate rosdep definition for [pcl]

My ROS_PACKAGE_PATH is
/opt/ros/jade/share:/opt/ros/jade/stacks:/home/me/where_repo_exists

Is there any step I missed?
Thank you for taking time on my question.

chapter 9 TF Timed out waiting for transform

I am trying to run the code in chapter 9. But I am getting the following errors. I am using Indigo on Ubuntu 14.04

[ INFO] [1452889196.329134059]: Requesting the map...
[ WARN] [1452889196.329791899]: Request for map failed; trying again...
[ INFO] [1452889196.441411551]: Read a 4000 X 4000 map @ 0.050 m/cell
[ WARN] [1452889196.513920976, 167.303000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 167.303 timeout was 0.1.
[ INFO] [1452889197.088506301, 167.799000000]: Sending map
[ INFO] [1452889197.105394529, 167.809000000]: Received a 4000 X 4000 map @ 0.050 m/pix

[ INFO] [1452889197.234685739, 167.922000000]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1452889197.352058306, 168.024000000]: Done initializing likelihood field model.
[ WARN] [1452889202.426361433, 172.332000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1452889208.360313058, 177.365000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1452889214.357923367, 182.402000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.102 timeout was 0.1.
[ WARN] [1452889215.167080648, 183.076000000]: No laser scan received (and thus no pose updates have been published) for 183.076000 seconds. Verify that data is being published on the /scan topic.
[ WARN] [1452889215.167129518, 183.076000000]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.amcl.message_notifier] rosconsole logger to DEBUG for more information.
[ WARN] [1452889220.303655183, 187.428000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1452889226.212108443, 192.457000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.

fatal error: chapter3_tutorials/DynamicParamConfig.h: No such file or directory

hello every,when i exercise the chapter3,there are many errors,because i can't find the .h files. Is there any can tell me where i can find the .h file to let my code run?thank you very much.