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Learning Robotics using Python

You're reading from   Learning Robotics using Python Design, simulate, program, and prototype an autonomous mobile robot using ROS, OpenCV, PCL, and Python

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Product type Paperback
Published in Jun 2018
Publisher Packt
ISBN-13 9781788623315
Length 280 pages
Edition 2nd Edition
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Author (1):
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Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
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Table of Contents (12) Chapters Close

Preface 1. Getting Started with Robot Operating System FREE CHAPTER 2. Understanding the Basics of Differential Robots 3. Modeling the Differential Drive Robot 4. Simulating a Differential Drive Robot Using ROS 5. Designing ChefBot Hardware and Circuits 6. Interfacing Actuators and Sensors to the Robot Controller 7. Interfacing Vision Sensors with ROS 8. Building ChefBot Hardware and the Integration of Software 9. Designing a GUI for a Robot Using Qt and Python 10. Assessments 11. Other Books You May Enjoy

Creating a simulation of Chefbot

We have seen how the turtlebot simulation works. In this section, we will be looking at how to create our own robot simulation using Gazebo.

Before we start discussing this subject, you should copy the chefbot_gazebo package to your catkin workspace and enter catkin_make to build the package. Make sure you have two packages in your workspace, one called chefbot_description and the other called chefbot_gazebo. The chefbot_gazebo package contains a simulation-related launch file and parameters, and chefbot_description has the robot's URDF model, along with its simulation parameters, and the launch file that is used to view the robot in Rviz and Gazebo.

Let's begin creating our Chefbot model in Gazebo so that you can familiarize yourself with the procedure. After that, we will dig deep into the xacro file and can look at the simulation parameters...

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