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| موضوع: كتاب Learning Robotics using Python الخميس 04 أغسطس 2022, 1:33 am | |
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أخواني في الله أحضرت لكم كتاب Learning Robotics using Python Second Edition Design, simulate, program, and prototype an autonomous mobile robot using ROS, OpenCV, PCL, and Python Lentin Joseph
و المحتوى كما يلي :
Table of Contents 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 Reviews1. 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 Questions2. 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 information3. 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 reading4. 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 reading5. 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 reading6. 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 reading7. 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 interf ace 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 reading8. 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 reading9. 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 Other Books You May Enjoy Leave a review - let other readers know what you think
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