Book Image

Hands-On ROS for Robotics Programming

By : Bernardo Ronquillo Japón
Book Image

Hands-On ROS for Robotics Programming

By: Bernardo Ronquillo Japón

Overview of this book

Connecting a physical robot to a robot simulation using the Robot Operating System (ROS) infrastructure is one of the most common challenges faced by ROS engineers. With this book, you'll learn how to simulate a robot in a virtual environment and achieve desired behavior in equivalent real-world scenarios. This book starts with an introduction to GoPiGo3 and the sensors and actuators with which it is equipped. You'll then work with GoPiGo3's digital twin by creating a 3D model from scratch and running a simulation in ROS using Gazebo. Next, the book will show you how to use GoPiGo3 to build and run an autonomous mobile robot that is aware of its surroundings. Finally, you'll find out how a robot can learn tasks that have not been programmed in the code but are acquired by observing its environment. You'll even cover topics such as deep learning and reinforcement learning. By the end of this robot programming book, you'll be well-versed with the basics of building specific-purpose applications in robotics and developing highly intelligent autonomous robots from scratch.
Table of Contents (19 chapters)
1
Section 1: Physical Robot Assembly and Testing
5
Section 2: Robot Simulation with Gazebo
8
Section 3: Autonomous Navigation Using SLAM
13
Section 4: Adaptive Robot Behavior Using Machine Learning

Questions

  1. Where are the sensor specifications included within a Gazebo SDF file?

A) Outside of a <gazebo> tag
B) Within a <joint> tag
C) Within a <sensor> tag

  1. Regarding the controller specification of a sensor in Gazebo, what is the most relevant parameter in terms of CPU usage while running the simulation?

A) The scan distance, because the larger the sensor range is, the more bandwidth consumption the CPU performs.
B) The angular scan, since the greater the angular resolution, the more bandwidth consumption is required to store the readings in the RAM.
C) The maximum sensor frequency, because they are so high in real sensors that they easily can overload the CPU.

  1. Where are the sensor mechanical properties included within a Gazebo description of the robot?

A) Outside of a <gazebo> tag
B) Within a <joint> tag
C) Within a <sensor> tag

  1. What...