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. What is the task for solving ML that requires more experience and insight from the data scientist?

A) The algorithm selection
B) The feature selection
C) The model

  1. What is the relationship between ML and deep learning?

A) ML covers many algorithms and deep learning only algorithms to find deep features.
B) Deep learning is a subset of ML.
C) Deep learning deals with all of the ML algorithms except neural networks.

  1. How should you integrate an ML task with a ROS application?

A) You should train the model outside and then provide ROS with a file of results.
B) You have the choice of using publish/subscribe, a ROS service, or an action server.
C) You have to use the specific communication protocol of the ML model.

  1. What is the main difference between the publish/subscribe mechanism and the ROS service mechanism?

A) ROS service is synchronous while publish/subscribe is...