更新时间：2021-06-25 21:04:43
封面
版权信息
Dedication
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Contributors
About the author
About the reviewer
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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
Further information
Modeling the Differential Drive Robot
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
Further reading
Simulating a Differential Drive Robot Using ROS
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
