Book Image

Learning Robotics using Python - Second Edition

By : Lentin Joseph
Book Image

Learning Robotics using Python - Second Edition

By: Lentin Joseph

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)

Getting started with the Gazebo simulator

In the first chapter, we looked at the basic concepts of the Gazebo simulator and its installation procedures. In this chapter, we will learn more about the usage of Gazebo and how to simulate a differential drive robot in the Gazebo simulator. The first step is to understand the GUI interfaces and its various controls. As we have discussed in the first chapter, Gazebo has two main sections. The first is the Gazebo server and the second is the Gazebo client. The simulation is done on the Gazebo server, which acts as a backend. The GUI is the frontend, which acts as the Gazebo client. We will also look at Rviz (ROS Visualizer), which is a GUI tool in ROS that is used to visualize different kinds of robot sensor data from robot hardware or a simulator, such as Gazebo.

We can use Gazebo as an independent simulator to simulate the robot, or...