Book Image

ROS Robotics Projects - Second Edition

By : Ramkumar Gandhinathan
Book Image

ROS Robotics Projects - Second Edition

By: Ramkumar Gandhinathan

Overview of this book

Nowadays, heavy industrial robots placed in workcells are being replaced by new age robots called cobots, which don't need workcells. They are used in manufacturing, retail, banks, energy, and healthcare, among other domains. One of the major reasons for this rapid growth in the robotics market is the introduction of an open source robotics framework called the Robot Operating System (ROS). This book covers projects in the latest ROS distribution, ROS Melodic Morenia with Ubuntu Bionic (18.04). Starting with the fundamentals, this updated edition of ROS Robotics Projects introduces you to ROS-2 and helps you understand how it is different from ROS-1. You'll be able to model and build an industrial mobile manipulator in ROS and simulate it in Gazebo 9. You'll then gain insights into handling complex robot applications using state machines and working with multiple robots at a time. This ROS book also introduces you to new and popular hardware such as Nvidia's Jetson Nano, Asus Tinker Board, and Beaglebone Black, and allows you to explore interfacing with ROS. You'll learn as you build interesting ROS projects such as self-driving cars, making use of deep learning, reinforcement learning, and other key AI concepts. By the end of the book, you'll have gained the confidence to build interesting and intricate projects with ROS.
Table of Contents (14 chapters)

Understanding reinforcement learning

As we have already seen, reinforcement learning is an on-the-go learning technique. Let's consider a simple analogy to understand reinforcement learning. Think about a nine-month-old baby trying to get up and walk.

The following diagram represents our analogy:

Baby walking analogy

The first step the baby does is try to get up by pressing their legs toward the ground. Then, they try to balance themselves and try to hold still. If this is successful, you would see a smile on the baby's face. Now, the baby takes one step forward and tries to balance itself again. If, while trying, the baby lost balance and fell down, then there is a chance that the baby might frown or cry. The baby may either give up walking if it doesn't have the motivation to walk or may try once again to get up and walk. If the baby was successful taking two...