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• Title Page
• Copyright and Credits
• Learning Robotics using Python Second Edition
• Dedication
• Packt Upsell
• Why subscribe?
• PacktPub.com
• Contributors
• About the author
• About the reviewer
• Packt is searching for authors like you
• Preface
• Who this book is for
• What this book covers
• To get the most out of this book
• Download the example code files
• Download the color images
• Conventions used
• Get in touch
• Reviews
• Getting Started with Robot Operating System
• Technical requirements
• Introduction to ROS
• ROS concepts
• The ROS filesystem
• The ROS Computation Graph
• The ROS community level
• Installing ROS on Ubuntu
• Introducing catkin
• Creating a ROS package
• Hello_world_publisher.py
• Hello_world_subscriber.py
• Introducing Gazebo
• Installing Gazebo
• Testing Gazebo with the ROS interface
• Summary
• Questions
• Understanding the Basics of Differential Robots
• Mathematical modeling of the robot
• Introduction to the differential drive system and robot kinematics
• Forward kinematics of a differential robot
• Explanations of the forward kinematics equation
• Inverse kinematics
• Summary
• Questions
• Further information
• Modeling the Differential Drive Robot
• Technical requirements
• Requirements of a service robot
• Robot drive mechanism
• Selection of motors and wheels
• Calculation of RPM of motors
• Calculation of motor torque
• The design summary
• The robot chassis design
• Installing LibreCAD, Blender, and MeshLab
• Installing LibreCAD
• Installing Blender
• Installing MeshLab
• Creating 2D CAD drawing of a robot using LibreCAD
• The base plate designs
• Base plate pole design
• Wheel, motor, and motor clamp design
• Caster wheel design
• Middle plate design
• Top plate design
• Working with a 3D model of the robot using Blender
• Python scripting in Blender
• Introduction to Blender Python APIs
• Python script of the robot model
• Creating a URDF model of the robot
• Creating a Chefbot description ROS package
• Summary
• Questions
• Further reading
• Simulating a Differential Drive Robot Using ROS
• Technical requirements
• Getting started with the Gazebo simulator
• The Gazebo’s graphical user interface
• The Scene
• The Left Panel
• Right Panel
• Gazebo toolbars
• Upper toolbar
• Bottom toolbar
• Working with a TurtleBot 2 simulation
• Moving the robot
• Creating a simulation of Chefbot
• Depth image to laser scan conversion
• URDF tags and plugins for Gazebo simulation
• Cliff sensor plugin
• Contact sensor plugin
• Gyroscope plugin
• Differential drive plugin
• Depth camera plugin
• Visualizing the robot sensor data
• Getting started with Simultaneous Localization and Mapping
• Implementing SLAM in the Gazebo environment
• Creating a map using SLAM
• Getting started with Adaptive Monte Carlo Localization
• Implementing AMCL in the Gazebo environment
• Autonomous navigation of Chefbot in the hotel using Gazebo
• Summary
• Questions
• Further reading
• Designing ChefBot Hardware and Circuits
• Technical requirements
• Specifications of the ChefBot’s hardware
• Block diagram of the robot
• Motor and encoder
• Selecting motors, encoders, and wheels for the robot
• Motor driver
• Selecting a motor driver/controller
• Input pins
• Output pins
• Power supply pins
• Embedded controller board
• Ultrasonic sensors
• Selecting an ultrasonic sensor
• Inertial measurement unit
• Kinect/Orbbec Astra
• Central processing unit
• Speakers/mic
• Power supply/battery
• How ChefBot’s hardware works’?
• Summary
• Questions
• Further reading
• Interfacing Actuators and Sensors to the Robot Controller
• Technical requirements
• Interfacing DC geared motor to Tiva C LaunchPad
• Differential wheeled robot
• Installing Energia IDE
• Motor interfacing code
• Interfacing quadrature encoder with Tiva C Launchpad
• Processing encoder data
• Quadrature encoder interfacing code
• Working with Dynamixel actuators
• Working with ultrasonic distance sensors
• Interfacing HC-SR04 to Tiva C LaunchPad
• Working of HC-SR04
• Interfacing Code of Tiva C Launchpad
• Interfacing Tiva C LaunchPad with Python
• Working with the IR proximity sensor
• Working with Inertial Measurement Units
• Inertial navigation
• Interfacing MPU 6050 with Tiva C LaunchPad
• Setting the MPU 6050 library in Energia
• Interfacing code of Energia
• Summary
• Questions
• Further reading
• Interfacing Vision Sensors with ROS
• Technical requirements
• List of robotic vision sensors and image libraries
• Pixy2/CMUcam5
• Logitech C920 webcam
• Kinect 360
• Intel RealSense D400 series
• Orbbec Astra depth sensor
• Introduction to OpenCV, OpenNI, and PCL
• What is OpenCV?
• Installation of OpenCV from the source code in Ubuntu
• Reading and displaying an image using the Python-OpenCV interface
• Capturing from the web camera
• What is OpenNI?
• Installing OpenNI in Ubuntu
• What is PCL?
• Programming Kinect with Python using ROS, OpenCV, and OpenNI
• How to launch the OpenNI driver
• The ROS interface with OpenCV
• Creating a ROS package with OpenCV support
• Displaying Kinect images using Python, ROS, and cv_bridge
• Interfacing Orbbec Astra with ROS
• Installing the Astra–ROS driver
• Working with point clouds using Kinect, ROS, OpenNI, and PCL
• Opening the device and generating a point cloud
• Conversion of point cloud data to laser scan data
• Working with SLAM using ROS and Kinect
• Summary
• Questions
• Further reading
• Building ChefBot Hardware and the Integration of Software
• Technical requirements
• Building ChefBot hardware
• Configuring ChefBot PC and setting ChefBot ROS packages
• Interfacing ChefBot sensors to the Tiva-C LaunchPad
• Embedded code for ChefBot
• Writing a ROS Python driver for ChefBot
• Understanding ChefBot ROS launch files
• Working with ChefBot Python nodes and launch files
• Working with SLAM on ROS to build a map of the room
• Working with ROS localization and navigation
• Summary
• Questions
• Further reading
• Designing a GUI for a Robot Using Qt and Python
• Technical requirements
• Installing Qt on Ubuntu 16.04 LTS
• Working with Python bindings of Qt
• PyQt
• Installing PyQt in Ubuntu 16.04 LTS
• PySide
• Installing PySide on Ubuntu 16.04 LTS
• Working with PyQt and PySide
• Introducing Qt Designer
• Qt signals and slots
• Converting a UI file into Python code
• Adding a slot definition to PyQt code
• Operation of the Hello World GUI application
• Working with ChefBot’s control GUI
• Installing and working with rqt in Ubuntu 16.04 LTS
• Summary
• Questions
• Further reading
• Assessments
• Chapter 1, Getting Started with the Robot Operating System
• Chapter 2, Understanding the Basics of Differential Robots
• Chapter 3, Modeling the Differential Drive Robot
• Chapter 4, Simulating a Differential Drive Robot Using ROS
• Chapter 5, Designing ChefBot Hardware and Circuits
• Chapter 6, Interfacing Actuators and Sensors to the Robot Controller
• Chapter 7, Interfacing Vision Sensors with ROS
• Chapter 8, Building ChefBot Hardware and Integration of Software
• Chapter 9, Designing a GUI for a Robot Using Qt and Python
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