This chapter was about assembling the hardware of ChefBot and integrating the embedded and ROS code into the robot to perform autonomous navigation. We saw the robot hardware parts that were manufactured using the design from Chapter 5, Working with Robotic Actuators and Wheel Encoders. We assembled individual sections of the robot and connected the prototype PCB that we designed for the robot. This consists of the Launchpad board, motor driver, left shifter, ultrasonic, and IMU. The Launchpad board was flashed with the new embedded code, which can interface all sensors in the robot and can send or receive data from the PC. After discussing the embedded code, we wrote the ROS Python driver node to interface the serial data from the Launchpad board. After interfacing the Launchpad board, we computed the odometry data and differential drive controlling using nodes from the differential_drive package that existed in the ROS repository. We interfaced the robot to ROS navigation stack...
Learning Robotics using Python
Learning Robotics using Python
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Table of Contents (19 chapters)
Learning Robotics Using Python
Credits
About the Author
About the Reviewers
www.PacktPub.com
Preface
Free Chapter
Introduction to Robotics
Mechanical Design of a Service Robot
Working with Robot Simulation Using ROS and Gazebo
Designing ChefBot Hardware
Working with Robotic Actuators and Wheel Encoders
Working with Robotic Sensors
Programming Vision Sensors Using Python and ROS
Working with Speech Recognition and Synthesis Using Python and ROS
Applying Artificial Intelligence to ChefBot Using Python
Integration of ChefBot Hardware and Interfacing it into ROS, Using Python
Designing a GUI for a Robot Using Qt and Python
The Calibration and Testing of ChefBot
Index
Customer Reviews