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Learning Robotics using Python

Learning Robotics using Python

By : Lentin Joseph
3.1 (8)
Buy this Book
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Learning Robotics using Python

Learning Robotics using Python

3.1 (8)
By: Lentin Joseph
Buy this Book

Overview of this book

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.
Table of Contents (12 chapters)
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Preface
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Preface
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Who this book is for
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What this book covers
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To get the most out of this book
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Get in touch
Free Chapter
1
Getting Started with Robot Operating System
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Getting Started with Robot Operating System
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Technical requirements
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Introduction to ROS
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Summary
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Questions
2
Understanding the Basics of Differential Robots
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Understanding the Basics of Differential Robots
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Mathematical modeling of the robot
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Forward kinematics of a differential robot
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Inverse kinematics
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Summary
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Questions
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Further information
3
Modeling the Differential Drive Robot
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Modeling the Differential Drive Robot
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Technical requirements
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Requirements of a service robot
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Robot drive mechanism
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Installing LibreCAD, Blender, and MeshLab
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Creating 2D CAD drawing of a robot using LibreCAD
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Working with a 3D model of the robot using Blender
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Creating a URDF model of the robot
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Summary
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Questions
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Further reading
4
Simulating a Differential Drive Robot Using ROS
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Simulating a Differential Drive Robot Using ROS
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Technical requirements
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Getting started with the Gazebo simulator
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Working with a TurtleBot 2 simulation
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Creating a simulation of Chefbot
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Visualizing the robot sensor data
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Summary
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Questions
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Further reading
5
Designing ChefBot Hardware and Circuits
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Designing ChefBot Hardware and Circuits
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Technical requirements
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Specifications of the ChefBot's hardware
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Block diagram of the robot
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How ChefBot’s hardware works’?
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Summary
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Questions
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Further reading
6
Interfacing Actuators and Sensors to the Robot Controller
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Interfacing Actuators and Sensors to the Robot Controller
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Technical requirements
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Interfacing DC geared motor to Tiva C LaunchPad
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Interfacing quadrature encoder with Tiva C Launchpad
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Working with Dynamixel actuators
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Working with ultrasonic distance sensors
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Working with the IR proximity sensor
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Working with Inertial Measurement Units
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Summary
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Questions
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Further reading
7
Interfacing Vision Sensors with ROS
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Interfacing Vision Sensors with ROS
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Technical requirements
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List of robotic vision sensors and image libraries
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Introduction to OpenCV, OpenNI, and PCL
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Programming Kinect with Python using ROS, OpenCV, and OpenNI
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Interfacing Orbbec Astra with ROS
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Working with point clouds using Kinect, ROS, OpenNI, and PCL
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Conversion of point cloud data to laser scan data
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Working with SLAM using ROS and Kinect
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Summary
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Questions
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Further reading
8
Building ChefBot Hardware and the Integration of Software
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Building ChefBot Hardware and the Integration of Software
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Technical requirements
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Building ChefBot hardware
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Configuring ChefBot PC and setting ChefBot ROS packages
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Interfacing ChefBot sensors to the Tiva-C LaunchPad
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Writing a ROS Python driver for ChefBot
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Understanding ChefBot ROS launch files
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Working with ChefBot Python nodes and launch files
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Summary
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Questions
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Further reading
9
Designing a GUI for a Robot Using Qt and Python
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Designing a GUI for a Robot Using Qt and Python
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Technical requirements
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Installing Qt on Ubuntu 16.04 LTS
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Working with Python bindings of Qt
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Working with PyQt and PySide
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Working with ChefBot's control GUI
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Installing and working with rqt in Ubuntu 16.04 LTS
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Summary
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Questions
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Further reading
10
Assessments
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Assessments
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Chapter 1, Getting Started with the Robot Operating System
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Chapter 2, Understanding the Basics of Differential Robots
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Chapter 3, Modeling the Differential Drive Robot
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Chapter 4, Simulating a Differential Drive Robot Using ROS
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Chapter 5, Designing ChefBot Hardware and Circuits
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Chapter 6, Interfacing Actuators and Sensors to the Robot Controller
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Chapter 7, Interfacing Vision Sensors with ROS
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Chapter 8, Building ChefBot Hardware and Integration of Software
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Chapter 9, Designing a GUI for a Robot Using Qt and Python
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Installing LibreCAD, Blender, and MeshLab

LibreCAD is a free, open source 2D CAD application for Windows, OS X, and Linux. Blender is a free, open source 3D computer graphics software used to create 3D models, animation, and video games. It comes with a GPL license, allowing users to share, modify, and distribute the application. MeshLab is an open source, portable, and extensible system to process and edit unstructured 3D triangular meshes.

The following are the links to install LibreCAD in Windows, Linux, and OS X:

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