Book description
Design, simulate, and program interactive robots
About This Book- Design, simulate, build, and program an interactive autonomous mobile robot
- Leverage the power of ROS, Gazebo, and Python to enhance your robotic skills
- A hands-on guide to creating an autonomous mobile robot with the help of ROS and Python
This book is for those who are conducting research in mobile robotics and autonomous navigation. As well as the robotics research domain, this book is also for the robot hobbyist community. You're expected to have a basic understanding of Linux commands and Python.
What You Will Learn- Design a differential robot from scratch
- Model a differential robot using ROS and URDF
- Simulate a differential robot using ROS and Gazebo
- Design robot hardware electronics
- Interface robot actuators with embedded boards
- Explore the interfacing of different 3D depth cameras in ROS
- Implement autonomous navigation in ChefBot
- Create a GUI for robot control
Robot Operating System (ROS) is one of the most popular robotics software frameworks in research and industry. It has various features for implementing different capabilities in a robot without implementing them from scratch.
This book starts by showing you the fundamentals of ROS so you understand the basics of differential robots. Then, you'll learn about robot modeling and how to design and simulate it using ROS. Moving on, we'll design robot hardware and interfacing actuators. Then, you'll learn to configure and program depth sensors and LIDARs using ROS. Finally, you'll create a GUI for your robot using the Qt framework.
By the end of this tutorial, you'll have a clear idea of how to integrate and assemble everything into a robot and how to bundle the software package.
Style and approachA step-by-step guide which will help you to create an autonomous mobile robot with the help of ROS and Python. It will help you to understand and implement the fundamental concepts of differential robots and teach you to create differential robot's simulation using Gazebo.
Table of contents
- Title Page
- Copyright and Credits
- Dedication
- Packt Upsell
- Contributors
- Preface
- Getting Started with Robot Operating System
- Understanding the Basics of Differential Robots
- Modeling the Differential Drive Robot
- Simulating a Differential Drive Robot Using ROS
-
Designing ChefBot Hardware and Circuits
- Technical requirements
- Specifications of the ChefBot's hardware
- Block diagram of the robot
- How ChefBot’s hardware works’?
- Summary
- Questions
- Further reading
-
Interfacing Actuators and Sensors to the Robot Controller
- Technical requirements
- Interfacing DC geared motor to Tiva C LaunchPad
- Interfacing quadrature encoder with Tiva C Launchpad
- Working with Dynamixel actuators
- Working with ultrasonic distance sensors
- Working with the IR proximity sensor
- Working with Inertial Measurement Units
- Summary
- Questions
- Further reading
-
Interfacing Vision Sensors with ROS
- Technical requirements
- List of robotic vision sensors and image libraries
- Introduction to OpenCV, OpenNI, and PCL
- Programming Kinect with Python using ROS, OpenCV, and OpenNI
- Interfacing Orbbec Astra with ROS
- Working with point clouds using Kinect, ROS, OpenNI, and PCL
- Conversion of point cloud data to laser scan data
- Working with SLAM using ROS and Kinect
- Summary
- Questions
- Further reading
-
Building ChefBot Hardware and the Integration of Software
- Technical requirements
- Building ChefBot hardware
- Configuring ChefBot PC and setting ChefBot ROS packages
- Interfacing ChefBot sensors to the Tiva-C LaunchPad
- Writing a ROS Python driver for ChefBot
- Understanding ChefBot ROS launch files
- Working with ChefBot Python nodes and launch files
- Summary
- Questions
- Further reading
- Designing a GUI for a Robot Using Qt and Python
-
Assessments
- Chapter 1, Getting Started with the Robot Operating System
- Chapter 2, Understanding the Basics of Differential Robots
- Chapter 3, Modeling the Differential Drive Robot
- Chapter 4, Simulating a Differential Drive Robot Using ROS
- Chapter 5, Designing ChefBot Hardware and Circuits
- Chapter 6, Interfacing Actuators and Sensors to the Robot Controller
- Chapter 7, Interfacing Vision Sensors with ROS
- Chapter 8, Building ChefBot Hardware and Integration of Software
- Chapter 9, Designing a GUI for a Robot Using Qt and Python
- Other Books You May Enjoy
Product information
- Title: Learning Robotics using Python - Second Edition
- Author(s):
- Release date: June 2018
- Publisher(s): Packt Publishing
- ISBN: 9781788623315
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