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 started with Python and JupyterLab

JupyterLab is a very extensive tool in the Python community because it lets you write a program as if you were solving a mathematics problem in a school class. That is to say, you write the heading, then the problem statement and the initial data. After this declaration, you write a paragraph explaining the operation that you are going to perform, and then you write the Python line(s) that perform such operation in a code cell. For every operation you repeat the same steps:

  1. A human-readable paragraph explaining the next operation, which is formatted with the well-known markdown syntax https://commonmark.org/help/.
  2. A code cell with the lines of Python that perform the operation.
  3. Repeat steps 1 and 2 for every code snippet that perform a single operation. The final one will provide the solution to the problem..

Here's a self-explaining...