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Hands-On ROS for Robotics Programming

You're reading from   Hands-On ROS for Robotics Programming Program highly autonomous and AI-capable mobile robots powered by ROS

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Product type Paperback
Published in Feb 2020
Publisher Packt
ISBN-13 9781838551308
Length 432 pages
Edition 1st Edition
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Author (1):
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Bernardo Ronquillo Japón Bernardo Ronquillo Japón
Author Profile Icon Bernardo Ronquillo Japón
Bernardo Ronquillo Japón
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Table of Contents (19) Chapters Close

Preface 1. Section 1: Physical Robot Assembly and Testing
2. Assembling the Robot FREE CHAPTER 3. Unit Testing of GoPiGo3 4. Getting Started with ROS 5. Section 2: Robot Simulation with Gazebo
6. Creating the Virtual Two-Wheeled ROS Robot 7. Simulating Robot Behavior with Gazebo 8. Section 3: Autonomous Navigation Using SLAM
9. Programming in ROS - Commands and Tools 10. Robot Control and Simulation 11. Virtual SLAM and Navigation Using Gazebo 12. SLAM for Robot Navigation 13. Section 4: Adaptive Robot Behavior Using Machine Learning
14. Applying Machine Learning in Robotics 15. Machine Learning with OpenAI Gym 16. Achieve a Goal through Reinforcement Learning 17. Assessment 18. Other Books You May Enjoy

Creating the Virtual Two-Wheeled ROS Robot

RViz is a 3D visualization tool that can display robot models. It provides a configurable Graphical User Interface (GUI) that allows the user to display any information they may request for the task being carrying out. RViz can be used for both robot visualization and for debugging specific features while building the Unified Robot Description Format (URDF) model. This format uses XML to simulate the robot.

To illustrate how to use RViz and URDF, in this chapter, you will build a simple two-wheeled robot, which is the digital twin of GoPiGo3. You will create the URDF file that describes the robot's main components. This file acts as the input for visualization in several ROS tools – not only RViz, but also the Gazebo simulation tool, which also includes a physics engine. Gazebo will be covered in the next chapter, while in...

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