Book Image

ROS Robotics Projects

Book Image

ROS Robotics Projects

Overview of this book

Robot Operating System is one of the most widely used software frameworks for robotic research and for companies to model, simulate, and prototype robots. Applying your knowledge of ROS to actual robotics is much more difficult than people realize, but this title will give you what you need to create your own robotics in no time! This book is packed with over 14 ROS robotics projects that can be prototyped without requiring a lot of hardware. The book starts with an introduction of ROS and its installation procedure. After discussing the basics, you’ll be taken through great projects, such as building a self-driving car, an autonomous mobile robot, and image recognition using deep learning and ROS. You can find ROS robotics applications for beginner, intermediate, and expert levels inside! This book will be the perfect companion for a robotics enthusiast who really wants to do something big in the field.
Table of Contents (20 chapters)
ROS Robotics Projects
Credits
About the Author
Acknowledgements
About the Reviewer
www.PacktPub.com
Customer Feedback
Preface

Building 2D and 3D models of the robot body


Chassis design is the next step in designing the robot. We can create the 2D drawing of the robot and then draw a 3D model of it. The only specification need to satisfy is that the robot's base footprint should be circular. Here, we are discussing a drawing that is satisfying this condition. If your requirements are different, you may need to modify your design accordingly. Now let's look at some illustrations of the robot's footprint.

The base plate

Following figure shows the base footprint of our robot:

Figure 1: Base plate of the robot

The preceding figure shows the base footprint of our robot. You can see that it is circular and there are two slots on the left and right for attaching motors and wheels. M1 and M2 are the positions of the motor body, and the shaft will be in the slots. The motors can be put on the top of the plate or on the bottom. Here, we are attaching the motors to the bottom of this plate. The wheels should be inside these...