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

Getting familiar with the embedded hardware

Do you remember which hardware is for what? The GoPiGo3 board is for interfacing with sensors and actuators, while Raspberry Pi is used for computing tasks. We will cover these topics in detail here.

The GoPiGo3 board

This customized board (https://www.dexterindustries.com/GoPiGo/learning/hardware-port-description/) provides the general features that are expected from a controller:

  • Real-time communication with sensors and actuators.
  • Interface input/output (I/O) through a serial peripheral interface (SPI) that feeds the data from the sensors to the Raspberry Pi and may also receive commands for the actuators (also from the Raspberry Pi, after running the logic in its CPU for every...