- Learning Robotics Using Python
- Table of Contents
- Learning Robotics Using Python
- Credits
- About the Author
- About the Reviewers
- www.PacktPub.com
- Preface
- 1. Introduction to Robotics
- 2. Mechanical Design of a Service Robot
- 3. Working with Robot Simulation Using ROS and Gazebo
- Understanding robotic simulation
- Mathematical modeling of the robot
- Introduction to ROS and Gazebo
- Installing ROS Indigo on Ubuntu 14.04.2
- Introducing catkin
- Creating an ROS package
- Hello_world_publisher.py
- Hello_world_subscriber.py
- Introducing Gazebo
- Installing Gazebo
- Testing Gazebo with the ROS interface
- Installing TurtleBot Robot packages on ROS Indigo
- Installing TurtleBot ROS packages using the apt package manager in Ubuntu
- Simulating TurtleBot using Gazebo and ROS
- Creating the Gazebo model from TurtleBot packages
- What is a robot model, URDF, xacro, and robot state publisher?
- Creating a ChefBot description ROS package
- Simulating ChefBot and TurtleBot in a hotel environment
- Questions
- Summary
- Understanding robotic simulation
- 4. Designing ChefBot Hardware
- 5. Working with Robotic Actuators and Wheel Encoders
- 6. Working with Robotic Sensors
- 7. Programming Vision Sensors Using Python and ROS
- List of robotic vision sensors and image processing libraries
- Introduction to OpenCV, OpenNI, and PCL
- Programming Kinect with Python using ROS, OpenCV, and OpenNI
- Working with Point Clouds using Kinect, ROS, OpenNI, and PCL
- Conversion of Point Cloud to laser scan data
- Working with SLAM using ROS and Kinect
- Questions
- Summary
- 8. Working with Speech Recognition and Synthesis Using Python and ROS
- Understanding speech recognition
- Working with speech recognition and synthesis in Ubuntu 14.04.2 using Python
- Real-time speech recognition using Pocket Sphinx, GStreamer, and Python in Ubuntu 14.04.2
- Speech recognition using Julius and Python in Ubuntu 14.04.2
- Working with speech recognition and synthesis in Windows using Python
- Working with Speech recognition in ROS Indigo and Python
- Working with speech synthesis in ROS Indigo and Python
- Questions
- Summary
- 9. Applying Artificial Intelligence to ChefBot Using Python
- 10. Integration of ChefBot Hardware and Interfacing it into ROS, Using Python
- 11. Designing a GUI for a Robot Using Qt and Python
- 12. The Calibration and Testing of ChefBot
- Index
In this chapter we have discussed the interfacing of motor that we are using in our robot. We have seen motor and encoder interfacing with a controller board called Tiva C LaunchPad. We have discussed the controller code for interfacing motor and encoder. In the future, if the robot requires high accuracy and torque, we have seen Dynamixel servos that can substitute current DC motors. In the next chapter, we will see different kinds of sensors that can be used in robots and its interfacing.
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