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Hands-On ROS for Robotics Programming
By :
Hands-On ROS for Robotics Programming
By:
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)
Preface
Section 1: Physical Robot Assembly and Testing
Free Chapter
Assembling the Robot
Unit Testing of GoPiGo3
Getting Started with ROS
Section 2: Robot Simulation with Gazebo
Creating the Virtual Two-Wheeled ROS Robot
Simulating Robot Behavior with Gazebo
Section 3: Autonomous Navigation Using SLAM
Programming in ROS - Commands and Tools
Robot Control and Simulation
Virtual SLAM and Navigation Using Gazebo
SLAM for Robot Navigation
Section 4: Adaptive Robot Behavior Using Machine Learning
Applying Machine Learning in Robotics
Machine Learning with OpenAI Gym
Achieve a Goal through Reinforcement Learning
Assessment
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