ROS开发文档
http://developer.51cto.com/art/200908/145504.htm
http://www.cnblogs.com/liuxinls/archive/2013/02/01/2888863.html
http://www.cnblogs.com/Yjianyong/archive/2010/08/05/1792976.html
http://blog.csdn.net/xiaobai1593/article/details/7065955
http://blog.csdn.net/zztoll/article/details/8694256