Learning Robotics Using Python: Design, Simulate, Program, and Prototype an Autonomous Mobile Robot Using ROS, OpenCV, PCL, and Python

Description

Cover; Title Page; Copyright and Credits; Dedication; Packt Upsell; Contributors; Table of Contents; Preface; Chapter 1: Getting Started with Robot Operating System; Technical requirements; Introduction to ROS; ROS concepts; The ROS filesystem; The ROS Computation Graph; The ROS community level; Installing ROS on Ubuntu; Introducing catkin; Creating a ROS package; Hello_world_publisher.py; Hello_world_subscriber.py; Introducing Gazebo; Installing Gazebo; Testing Gazebo with the ROS interface; Summary; Questions; Chapter 2: Understanding the Basics of Differential Robots.;Learning about robotics will become an essential skill as it will be a ubiquitous part of life. Even though robotics is a complex subject, several other tools along with Python can help you design a project to create an easy-to-use interface. The main aim of the book is to teach you how to build an autonomous mobile robot from scratch. Cover Title Page Copyright and Credits Dedication Packt Upsell Contributors Table of Contents Preface Chapter 1: Getting Started with Robot Operating System Technical requirements Introduction to ROS ROS concepts The ROS filesystem The ROS Computation Graph The ROS community level Installing ROS on Ubuntu Introducing catkin Creating a ROS package Hello_world_publisher.py Hello_world_subscriber.py Introducing Gazebo Installing Gazebo Testing Gazebo with the ROS interface Summary Questions Chapter 2: Understanding the Basics of Differential Robots. Mathematical modeling of the robotIntroduction to the differential drive system and robot kinematics Forward kinematics of a differential robot Explanations of the forward kinematics equation Inverse kinematics Summary Questions Further information Chapter 3 : Modeling the Differential Drive Robot Technical requirements Requirements of a service robot Robot drive mechanism Selection of motors and wheels Calculation of RPM of motors Calculation of motor torque The design summary The robot chassis design Installing LibreCAD, Blender, and MeshLab Installing LibreCAD. Installing BlenderInstalling MeshLab Creating 2D CAD drawing of a robot using LibreCAD The base plate designs Base plate pole design Wheel, motor, and motor clamp design Caster wheel design Middle plate design Top plate design Working with a 3D model of the robot using Blender Python scripting in Blender Introduction to Blender Python APIs Python script of the robot model Creating a URDF model of the robot Creating a Chefbot description ROS package Summary Questions Further reading Chapter 4: Simulating a Differential Drive Robot Using ROS Technical requirements. Getting started with the Gazebo simulatorThe Gazebo's graphical user interface The Scene The Left Panel Right Panel Gazebo toolbars Upper toolbar Bottom toolbar Working with a TurtleBot 2 simulation Moving the robot Creating a simulation of Chefbot Depth image to laser scan conversion URDF tags and plugins for Gazebo simulation Cliff sensor plugin Contact sensor plugin Gyroscope plugin Differential drive plugin Depth camera plugin Visualizing the robot sensor data Getting started with Simultaneous Localization and Mapping Implementing SLAM in the Gazebo environment. Creating a map using SLAMGetting started with Adaptive Monte Carlo Localization Implementing AMCL in the Gazebo environment Autonomous navigation of Chefbot in the hotel using Gazebo Summary Questions Further reading Chapter 5: Designing ChefBot Hardware and Circuits Technical requirements Specifications of the ChefBot's hardware Block diagram of the robot Motor and encoder Selecting motors, encoders, and wheels for the robot Motor driver Selecting a motor driver/controller Input pins Output pins Power supply pins Embedded controller board Ultrasonic sensors.