book

Learning Robotics using Python

by Lentin Joseph

May 2015

Intermediate to advanced

330 pages

7h 18m

English

Packt Publishing

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What this book covers

Downloading the example codeDownloading the color images of this bookErrataPiracyQuestions
What is a robot?History of the term robotModern definition of a robot
The physical bodySensorsEffectorsControllers
Reactive controlHierarchical (deliberative) controlHybrid control
The Requirements of a service robot
Selection of motors and wheelsCalculation of RPM of motorsCalculation of motor torqueThe design summaryRobot chassis design
Installing LibreCADInstalling BlenderInstalling MeshLab
The base plate designBase plate pole designWheel, motor, and motor clamp designCaster wheel designMiddle plate designTop plate design
Python scripting in BlenderIntroduction to Blender Python APIsPython script of the robot model
Understanding robotic simulationMathematical modeling of the robotIntroduction to the differential steering system and robot kinematicsExplaining of the forward kinematics equationInverse kinematicsIntroduction to ROS and GazeboROS ConceptsThe ROS filesystemThe ROS Computation GraphThe ROS community levelInstalling ROS Indigo on Ubuntu 14.04.2Introducing catkinCreating an ROS packageHello_world_publisher.pyHello_world_subscriber.pyIntroducing GazeboInstalling GazeboTesting Gazebo with the ROS interfaceInstalling TurtleBot Robot packages on ROS IndigoInstalling TurtleBot ROS packages using the apt package manager in UbuntuSimulating TurtleBot using Gazebo and ROSCreating the Gazebo model from TurtleBot packagesWhat is a robot model, URDF, xacro, and robot state publisher?Creating a ChefBot description ROS packagechefbot_base_gazebo.urdf.xacrokinect.urdf.xacrochefbot_base.urdf.xacroSimulating ChefBot and TurtleBot in a hotel environment
Specifications of the ChefBot hardware
Motor and encoderSelecting motors, encoders, and wheels for the robotMotor driverSelecting a motor driver/controllerInput pinsOutput pinsPower supply pinsEmbedded controller boardUltrasonic sensorsSelecting the ultrasonic sensorInertial Measurement UnitKinectCentral Processing UnitSpeakers/ micPower supply/battery
Interfacing DC geared motor with Tiva C LaunchPadDifferential wheeled robotInstalling the Energia IDEInterfacing code
Processing encoder dataQuadrature encoder interfacing code
Working with ultrasonic distance sensorsInterfacing HC-SR04 to Tiva C LaunchPadWorking of HC-SR04Interfacing code of Tiva C LaunchPadInterfacing Tiva C LaunchPad with Python
Inertial NavigationInterfacing MPU 6050 with Tiva C LaunchPadSetting up the MPU 6050 library in EnergiaInterfacing code of Energia
List of robotic vision sensors and image processing libraries
What is OpenCV?Installation of OpenCV from source code in Ubuntu 14.04.2Reading and displaying an image using the Python-OpenCV interfaceCapturing from web cameraWhat is OpenNIInstalling OpenNI in Ubuntu 14.04.2What is PCL?
How to launch OpenNI driverThe ROS interface of OpenCVCreating ROS package with OpenCV supportDisplaying Kinect images using Python, ROS, and cv_bridge
Opening device and Point Cloud generation
Understanding speech recognitionBlock diagram of a speech recognition systemSpeech recognition librariesCMU Sphinx/Pocket SphinxJuliusWindows Speech SDKSpeech synthesisSpeech synthesis librarieseSpeakFestival
Setting up Pocket Sphinx and its Python binding in Ubuntu 14.04.2Working with Pocket Sphinx Python binding in Ubuntu 14.04.2Output
Installation of Julius speech recognizer and Python modulePython-Julius client codeImproving speech recognition accuracy in Pocket Sphinx and JuliusSetting up eSpeak and Festival in Ubuntu 14.04.2
Installation of the Speech SDK
Installation of the pocketsphinx package in ROS Indigo
Block diagram of the communication system in ChefBot
Introduction to AIML tags
Installing PyAIML on Ubuntu 14.04.2Installing PyAIML from source code
Loading a single AIML file from the command-line argument
Loading AIML files into memoryLoading AIML files and saving them in brain filesLoading AIML and brain files using the Bootstrap method
aiml_server.pyaiml_client.pyaiml_tts_client.pyaiml_speech_recog_client.pystart_chat.launchstart_tts_chat.launchstart_speech_chat.launch
Building ChefBot hardware
Embedded code for ChefBot
Working with SLAM on ROS to build the map of the roomWorking with ROS localization and navigation
Installing Qt on Ubuntu 14.04.2 LTS
PyQtInstalling PyQt on Ubuntu 14.04.2 LTSPySideInstalling PySide on Ubuntu 14.04.2 LTS
Introducing Qt DesignerQt signals and slotsConverting a UI file into Python codeAdding a slot definition to PyQt codeUp and running of Hello World GUI application
Installing and working with rqt in Ubuntu 14.04.2 LTS
The Calibration of Xbox Kinect using ROSCalibrating the Kinect RGB cameraCalibrating the Kinect IR camera
Error analysis of wheel odometryError correction
Pros and cons of the ROS navigation

Content preview from Learning Robotics using Python

Summary

In this chapter, we saw vision sensors to be used in our robot. We used Kinect in our robot and discussed OpenCV, OpenNI, PCL and their application. We also discussed the role of vision sensors in robot navigation and a popular SLAM technique and its application using ROS. In the next chapter, we will discuss speech processing and synthesis to be used in this robot.

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Publisher Resources

ISBN: 9781783287536Supplemental Content