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. If you have this sequence of Python commands, what will GoPiGo3 do?
my_gopigo.drive_cm(10)
my_gopigo.turn_degrees(90)

A) It will drive 10 cm forward and then turn 90º to the right
B) It will drive 10 cm forward and then turn 90º to the left
C) It will turn 90º

  1. What is the battery level required for GoPiGo3 to work properly?

A) Slightly above 9V is enough.
B) 5V, the same that the Raspberry Pi needs.
C) There is no minimum. If the voltage is low, the robot will drive slowly.

  1. Which set of commands will make GoPiGo3 draw a right angle arc 60 cm in diameter?

A) gpg.orbit(90, 60)
B) gpg.orbit(90, 30)
C) gpg.orbit(180, 30)

  1. What combination of the six sensor signals of the line follower does not correspond to GoPiGo3 being to the right of the black line? (w: white, b: black)

A) b-b-b-b-w
B) w-b-b-b-w
C) b-b-b-w-w

  1. If you have a histogram of an image that...