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

Summary

In this chapter, we have familiarized ourselves with the GoPiGo3 Python environment by running simple programs that allow us to test robot sensors and actuators. We have checked them one by one in what is formally known as unit testing. This has served two goals: getting started with Python programming and functionally validating your robot hardware.

Next, we will leave the robot for one chapter, and we will discuss the core software concepts of ROS that we will later use to program GoPiGo3.