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 format of the SDF?

A) It is a text file
B) JSON
C) XML

  1. Why can't the UDRF format be directly used by simulation for robots?

A) Because URDF cannot specify the pose of the robot within a world
B) Because it cannot specify the dynamic properties of joints, such as stiffness, damping, and/or friction
C) All of the above

  1. What is the <collision> tag used for?

A) For defining the physical obstacles the robot has to avoid
B) It is an optional tag for performing the interference checking of robot joints
C) To define the volume to be considered for the interference checking of robot links

  1. What is the ROS find command used for?

A) It is used to refer to other ROS nodes with the same name
B) It returns the absolute path of the ROS package that is specified as its argument
C) It allows you to easily find any file within the ROS environment

  1. What is a...