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Learning Robotics using Python. - Second Edition

You're reading from Learning Robotics using Python. - Second Edition

Product type Book

Published in Jun 2018

Publisher Packt

ISBN-13 9781788623315

Pages 280 pages

Edition 2nd Edition

Languages

Concepts

Author (1):

Lentin Joseph

Table of Contents (12) Chapters

Preface

1. Getting Started with Robot Operating System

2. Understanding the Basics of Differential Robots

3. Modeling the Differential Drive Robot

4. Simulating a Differential Drive Robot Using ROS

5. Designing ChefBot Hardware and Circuits

6. Interfacing Actuators and Sensors to the Robot Controller

7. Interfacing Vision Sensors with ROS

8. Building ChefBot Hardware and the Integration of Software

9. Designing a GUI for a Robot Using Qt and Python

10. Assessments

11. Other Books You May Enjoy

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Creating a URDF model of the robot

The robot model in ROS contains packages to model the various aspects of the robot, which is specified in the XML Robot Description Format. The core package of this stack is URDF, which parses URDF files and constructs an object model of the robot.

Unified Robot Description Format (URDF) is an XML specification to describe the model of a robot. We can represent the following features of the robot using URDF:

The kinematic and dynamic description of the robot
The visual representation of the robot
The collision model of the robot

The description of the robot consists of a set of links (parts), elements, and a set of joint elements, which connect these links together. A typical robot description is shown in the following code:

 
<robot name="chefbot"> 
<link> ... </link> 
<link> ... </link> 
<link&gt...

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Authors (1)

Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.

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