Building Smart Robots Using ROS: Design, Build, Simulate, Prototype and Control Smart Robots Using ROS, Machine Learning and React Native Platform
- Length: 222 pages
- Edition: 1
- Language: English
- Publisher: BPB Publications
- Publication Date: 2022-03-24
- ISBN-10: 939139227X
- ISBN-13: 9789391392277
- Sales Rank: #1683074 (See Top 100 Books)
This book is a practical introduction to the Robotics operating system (ROS). It will expose you to the essential principles, tools, and packages in ROS and assist you in configuring and recombining components for additional tasks. If you are new to the world of robotics, you will enjoy the companionship of this book as it guides you through the process of building your first robot.
The book introduces robotics and advances through numerous concepts such as sensors and actuators, SLAM, Aruco markers, CAD (computer-aided design), React native application development, image processing in ROS, machine learning and object detection. Every point raised above is illustrated in a live robotics environment. Along the way, other packages required for developing ROS apps will be presented, including serial, OpenCV, and cv bridge. You’ll learn about tools like SolidWorks, Moveit, Rviz, as well as simulation platforms like gazebo and turtlesim, which will give you a complete picture of what it takes to build a robot.
Cover Page Title Page Copyright Page Forewords Dedication Page About the Author About the Reviewer Acknowledgement Preface Errata Table of Contents Introduction 1. Robot Operating System Introduction Structure Objectives Understanding Ubuntu terminal Terminal shortcuts on the Ubuntu terminal ROS file system ROS computation graph level Conclusion Key terms 2. Creating a Node Introduction Structure Objectives ROS listener and publisher Sensor-based decision Conclusion Key terms 3. Integrating Sensors and Actuators Introduction Structure Objectives Proximity sensor DC motor control Conclusion Key terms 4. ROS Serial Introduction Structure Objectives Protocol Packet Checksum Installing Ros serial Conclusion Key terms 5. Web Interface Introduction Structure Objectives Prerequisites Installing Rosbridge Running Rosbridge Talking to Rosbridge Creating a publisher Controlling hardware Servo Control Servo motor slider Creating a subscriber Visualizing sensor Ultrasonic sensor Inertial measurement unit Conclusion Key terms 6. Turtlesim Introduction Structure Objectives Understanding nodes and topics Setting up turtlesim How to start turtlesim? Publishing messages through terminal Monitoring methods Conclusion Key terms 7. Designing a Robot Introduction Structure Objectives Solidworks Part modeling Designing the Frame Designing the wheels Assembly URDF conversion Visualize the URDF in Gazebo Conclusion Key terms 8. Gazebo Introduction Structure Objectives Why Simulations? Setting up gazebo Designing a world in gazebo Adding a robot model to gazebo Material parameters Gazebo plugins Model plugins Sensor plugins Launching the gazebo model Conclusion Key terms 9. RVIZ Introduction Structure Objectives Launching RVIZ Adding elements to RVIZ Visualizing the URDF of a robot RVIZ configuration Conclusion Key terms 10. MoveIt Introduction Structure Objectives Creating MoveIt package for a custom robotic arm Optimizing self-collision checking Defining planning groups Defining robot pose Defining End effectors Defining passive joints Setting up 3D perception sensors Simulating with gazebo Setting up ROS controllers Generating MoveIt configuration files Planning and execution for the robotic arm Conclusion Key terms 11. Vision Introduction Structure Objectives What is cv_bridge? Converting ROS Image messages into OpenCV Image messages (rospython) Converting OpenCV image messages into ROS Image messages ROS node example What is image_geometry? Why camera calibration? Interfacing Astra 3D camera with ROS Package and driver installation Intrinsic camera calibration Calibrating RGB camera Calibrating depth (IR) camera Camera calibration files Interfacing Kinect camera with ROS Package and driver installation Calibrating RGB camera Calibrating depth camera Interfacing Lidar with ROS Installing Rplidar ROS Package Conclusion Key terms 12. Aruco Markers Introduction Structure Objectives Intrinsic parameters ROS package Camera calibration Implementation Implementing the marker in Gazebo Blender Visualizing in gazebo Conclusion Key terms 13. Slam Introduction Structure Objectives What is SLAM? Different approaches to SLAM Performing SLAM Preparing the URDF Setting up the packages for Gmapping Autonomous navigation The navigation stack Obtaining a map of the environment Localizing the robot in the map Obtain a path to travel from source to destination Move base package Conclusion Key terms 14. React Native App Introduction Structure Objectives Opportunities Types of mobile development frameworks Native mobile app development Cross-platform mobile app development React Native App development Capturing accelerometer, gyroscope, and magnetometer values Establishing the connection between the ROS server and React Native app Connection with Non-ROS programs Functioning ROS bridge protocol Transport layer ROS bridge suite Installation of ROS bridge suite Creating an application Conclusion Key terms 15. Artificial Intelligence Introduction Structure Objectives Purpose of AI Application of AI Choosing between machine learning and deep learning Object detection Understanding computer vision Tasks of computer vision Object detection – An explanation Working of CNN Architecture of CNN Convolution layer ReLU Padding Pooling Flattening Fully connected layer Softmax layer Weights Object detection using CNN Coding exercise Object detection using Tensorflow object detection API Tensorflow object detection with ROS Requirements Steps Conclusion Key terms Index
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