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. Which of these sensors is of the LDS type?

A) LIDAR
B) Ultrasonic distance sensor
C) Capacitive sensors

  1. Where does the ROS master node have to live to perform navigation?

A) In the robot
B) In the robot and the laptop
C) In either the robot or the laptop

  1. What will happen if an obstacle is placed in the environment after the map has been built?

A) The robot will not detect it and may crash with it if it interferes with the planned path.
B) The local path planning will be taken into account to provide a modified path that avoids the obstacle.
C) You should rebuild the map with the new conditions before proceeding to the navigation task.

  1. Can you perform navigation without previously running SLAM with the robot?

A) No, because you have to build the map with the same robot that you will use for navigation.
B) Yes, the only condition is that you provide a premade map...