Book Image

ROS Robotics Projects - Second Edition

By : Ramkumar Gandhinathan
Book Image

ROS Robotics Projects - Second Edition

By: Ramkumar Gandhinathan

Overview of this book

Nowadays, heavy industrial robots placed in workcells are being replaced by new age robots called cobots, which don't need workcells. They are used in manufacturing, retail, banks, energy, and healthcare, among other domains. One of the major reasons for this rapid growth in the robotics market is the introduction of an open source robotics framework called the Robot Operating System (ROS). This book covers projects in the latest ROS distribution, ROS Melodic Morenia with Ubuntu Bionic (18.04). Starting with the fundamentals, this updated edition of ROS Robotics Projects introduces you to ROS-2 and helps you understand how it is different from ROS-1. You'll be able to model and build an industrial mobile manipulator in ROS and simulate it in Gazebo 9. You'll then gain insights into handling complex robot applications using state machines and working with multiple robots at a time. This ROS book also introduces you to new and popular hardware such as Nvidia's Jetson Nano, Asus Tinker Board, and Beaglebone Black, and allows you to explore interfacing with ROS. You'll learn as you build interesting ROS projects such as self-driving cars, making use of deep learning, reinforcement learning, and other key AI concepts. By the end of the book, you'll have gained the confidence to build interesting and intricate projects with ROS.
Table of Contents (14 chapters)

Understanding embedded boards

In an application, if the software is embedded into hardware of a specific design, the application is called an embedded systems application. Embedded systems are found in most of our daily routine gadgets and electronics such as mobile phones, kitchen appliances, and consumer electronics. They are usually designed for specific purposes. One such application where embedded systems are quite famous is robotics.

The hardware boards that carry the software (say, firmware) and that are intended for such specific purposes are what we call embedded boards. They come in two flavors:

  • Microcontroller-based: In microcontroller-based boards, the hardware constitutes a CPU, memory units, peripheral device connectivity through IOs, and communication interface, all in a single chip.
  • Microprocessor-based: In microprocessor-based boards, the hardware majorly constitutes...