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Learning Robotics Using Python

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Learning Robotics Using Python

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Learning Robotics Using Python
May, 2015 | 330 pages
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Table of Contents (19 chapters)
Learning Robotics Using Python
Learning Robotics Using Python
Credits
Credits
About the Author
About the Author
About the Reviewers
About the Reviewers
www.PacktPub.com
www.PacktPub.com
Preface
Preface
Free Chapter
1
Introduction to Robotics
Introduction to Robotics
What is a robot?
Where do robots come from?
What can we find in a robot?
How do we build a robot?
Summary
2
Mechanical Design of a Service Robot
Mechanical Design of a Service Robot
The Requirements of a service robot
Robot drive mechanism
Installing LibreCAD, Blender, and MeshLab
Creating a 2D CAD drawing of the robot using LibreCAD
Working with a 3D model of the robot using Blender
Questions
Summary
3
Working with Robot Simulation Using ROS and Gazebo
Working with Robot Simulation Using ROS and Gazebo
Understanding robotic simulation
Questions
Summary
4
Designing ChefBot Hardware
Designing ChefBot Hardware
Specifications of the ChefBot hardware
Block diagram of the robot
Working of the ChefBot hardware
Questions
Summary
5
Working with Robotic Actuators and Wheel Encoders
Working with Robotic Actuators and Wheel Encoders
Interfacing DC geared motor with Tiva C LaunchPad
Interfacing quadrature encoder with Tiva C Launchpad
Working with Dynamixel actuators
Questions
Summary
6
Working with Robotic Sensors
Working with Robotic Sensors
Working with ultrasonic distance sensors
Working with the IR proximity sensor
Working with Inertial Measurement Unit
Interfacing MPU 6050 to Launchpad with the DMP support using Energia
Questions
Summary
7
Programming Vision Sensors Using Python and ROS
Programming Vision Sensors Using Python and ROS
List of robotic vision sensors and image processing libraries
Introduction to OpenCV, OpenNI, and PCL
Programming Kinect with Python using ROS, OpenCV, and OpenNI
Working with Point Clouds using Kinect, ROS, OpenNI, and PCL
Conversion of Point Cloud to laser scan data
Working with SLAM using ROS and Kinect
Questions
Summary
8
Working with Speech Recognition and Synthesis Using Python and ROS
Working with Speech Recognition and Synthesis Using Python and ROS
Understanding speech recognition
Working with speech recognition and synthesis in Ubuntu 14.04.2 using Python
Real-time speech recognition using Pocket Sphinx, GStreamer, and Python in Ubuntu 14.04.2
Speech recognition using Julius and Python in Ubuntu 14.04.2
Working with speech recognition and synthesis in Windows using Python
Working with Speech recognition in ROS Indigo and Python
Working with speech synthesis in ROS Indigo and Python
Questions
Summary
9
Applying Artificial Intelligence to ChefBot Using Python
Applying Artificial Intelligence to ChefBot Using Python
Block diagram of the communication system in ChefBot
Introduction to AIML
Introduction to PyAIML
Working with AIML and Python
Working with A.L.I.C.E. AIML files
Integrating PyAIML into ROS
Questions
Summary
10
Integration of ChefBot Hardware and Interfacing it into ROS, Using Python
Integration of ChefBot Hardware and Interfacing it into ROS, Using Python
Building ChefBot hardware
Configuring ChefBot PC and setting ChefBot ROS packages
Interfacing ChefBot sensors with Tiva C LaunchPad
Writing a ROS Python driver for ChefBot
Understanding ChefBot ROS launch files
Working with ChefBot Python nodes and launch files
Questions
Summary
11
Designing a GUI for a Robot Using Qt and Python
Designing a GUI for a Robot Using Qt and Python
Installing Qt on Ubuntu 14.04.2 LTS
Working with Python bindings of Qt
Working with PyQt and PySide
Working with ChefBot's control GUI
Questions
Summary
12
The Calibration and Testing of ChefBot
The Calibration and Testing of ChefBot
The Calibration of Xbox Kinect using ROS
Wheel odometry calibration
Calibrating the MPU 6050
Testing of the robot using GUI
Questions
Summary
Index
Index

Configuring ChefBot PC and setting ChefBot ROS packages

In ChefBot, we are using Intel's NUC PC to handle the robot sensor data and its processing. After procuring the NUC PC, we have to install Ubuntu 14.04.2 or the latest updates of 14.04 LTS. After the installation of Ubuntu, install complete ROS and its packages we mentioned in the previous chapters. We can configure this PC separately, and after the completion of all the settings, we can put this in to the robot. The following are the procedures to install ChefBot packages on the NUC PC.

Clone ChefBot's software packages from GitHub using the following command:

$ git clone https://github.com/qboticslabs/Chefbot_ROS_pkg.git

We can clone the code in our laptop and copy the chefbot folder to Intel's NUC PC. The chefbot folder consists of the ROS packages of ChefBot. In the NUC PC, create a ROS catkin workspace, copy the chefbot folder and move it inside the src directory of the catkin workspace.

Build and install the source code of ChefBot...

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