Learning Robotics using Python Second Edition

Design, simulate, program, and prototype an autonomous mobile robot using ROS, OpenCV, PCL, and Python

Lentin Joseph 지음

Packt(GCO Science) 2018년 06월 27일 출간

작품소개

책소개

▶Book Description
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.

▶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

▶Key Features
？ 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

▶Who This Book Is For
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.

목차

▶TABLE of CONTENTS
1: GETTING STARTED WITH ROBOT OPERATING SYSTEM
2: UNDERSTANDING THE BASICS OF DIFFERENTIAL ROBOTS
3: MODELING THE DIFFERENTIAL DRIVE ROBOT
4: SIMULATING A DIFFERENTIAL DRIVE ROBOT USING ROS
5: DESIGNING CHEFBOT HARDWARE AND CIRCUITS
6: INTERFACING ACTUATORS AND SENSORS TO THE ROBOT CONTROLLER
7: INTERFACING VISION SENSORS WITH ROS
8: BUILDING CHEFBOT HARDWARE AND THE INTEGRATION OF SOFTWARE
9: DESIGNING A GUI FOR A ROBOT USING QT AND PYTHON

책 속으로

▶What this book covers
？ Chapter 1, Getting Started with Robot Operating System, explains the fundamental concepts of ROS, which are the main platform for programming robot.

？ Chapter 2, Understanding the Basics of Differential Robots, discusses the fundamental concepts of a differential mobile robot. The concepts are Kinematics and Inverse kinematics of differential drive. This will help you implement the differential drive controller in the software.

？ Chapter 3, Modeling the Differential Drive Robot, discusses the calculation of the robot design constraints and 2D/3D modeling of this mobile robot. The 2D/3D modeling is based on a set of robot requirements. After completing the design and robot modeling, the reader will get the designed parameters that can be used for creating a robot simulation.

？ Chapter 4, Simulating a Differential Drive Robot Using ROS, introduces a robot simulator named Gazebo and helps readers to simulate their own robot using it.

？ Chapter 5, Designing ChefBot Hardware and Circuits, discusses the selection of different hardware components required to build Chefbot.

？ Chapter 6, Interfacing Actuators and Sensors to the Robot Controller, discusses the interfacing of different actuators and sensors used in this robot with Tiva C Launchpad controller.

？ Chapter 7, Interfacing Vision Sensors with ROS, discusses interfacing of different vision sensors such as Kinect and Orbecc Astra that can be used in Chefbot for autonomous navigation.

？ Chapter 8, Building ChefBot Hardware and Integration of Software, discusses the complete construction of robot hardware and software in ROS in order to implement autonomous navigation.

？ Chapter 9, Designing a GUI for a Robot Using Qt and Python, discusses the development of a GUI to command the robot to move to a table in a hotel-like environment.

출판사 서평

▶Editorial Review
Learning Robotics using Python contains nine chapters that explain how to build an autonomous mobile robot from scratch and program it using Python. The robot mentioning in this book is a service robot that can be used to serve food in home, hotels, and restaurant. From the beginning to end, the book discusses step-by-step procedures of building of this robot. The book starts with the basics concepts of robotics and then moves to the 3D modeling and simulation of the robot. After successful simulation of the robot, it discusses the hardware components required to build the robot prototype.

The software part of this robot is mainly implemented using Python programming language and software frameworks, such as Robot Operating System (ROS) and OpenCV. You can see the application of python from the designing of a robot to creating robot user interface. The Gazebo simulator is used to simulate the robot and machine vision libraries, such as OpenCV, OpenNI, and PCL, is for processing the 2D and 3D image data. Each chapter is presented with adequate theory for understanding the application part. The book is reviewed by the experts in this field and it is the result of their handwork and passion in robotics.

작가정보

저자(글) Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL.He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners.He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.