Book Image

Learning Robotics using Python - Second Edition

By : Lentin Joseph
Book Image

Learning Robotics using Python - Second Edition

By: Lentin Joseph

Overview of this book

Robot Operating System (ROS) is one of the most popular robotics software frameworks in research and industry. It has various features for implementing different capabilities in a robot without implementing them from scratch. This book starts by showing you the fundamentals of ROS so you understand the basics of differential robots. Then, you'll learn about robot modeling and how to design and simulate it using ROS. Moving on, we'll design robot hardware and interfacing actuators. Then, you'll learn to configure and program depth sensors and LIDARs using ROS. Finally, you'll create a GUI for your robot using the Qt framework. By the end of this tutorial, you'll have a clear idea of how to integrate and assemble everything into a robot and how to bundle the software package.
Table of Contents (12 chapters)

Summary

This chapter was about assembling the hardware of ChefBot and integrating the embedded and ROS code into the robot to perform autonomous navigation. We saw the robot hardware parts that were manufactured using the design from Chapter 6, Interfacing Actuators and Sensors to the Robot Controller. We assembled the individual sections of the robot and connected the prototype PCB we designed for the robot. This consisted of the LaunchPad board, motor driver, left shifter, ultrasonic sensor, and IMU. The LaunchPad board was flashed with the new embedded code, which can interface with all sensors in the robot and can send or receive data from the PC.

After looking at the embedded code, we configured the ROS Python driver node to interface with the serial data from the LaunchPad board. After interfacing with the LaunchPad board, we computed the odometry data and differential drive...