Table of Contents
[ ii ]
Installing LibreCAD, Blender, and MeshLab 22
Installing LibreCAD 23
Installing Blender 23
Installing MeshLab 23
Creating a 2D CAD drawing of the robot using LibreCAD 24
The base plate design 27
Base plate pole design 28
Wheel, motor, and motor clamp design 29
Caster wheel design 30
Middle plate design 31
Top plate design 32
Working with a 3D model of the robot using Blender 32
Python scripting in Blender 33
Introduction to Blender Python APIs 34
Python script of the robot model 36
Questions 41
Summary 42
Chapter 3: Working with Robot Simulation Using
ROS and Gazebo 43
Understanding robotic simulation 43
Mathematical modeling of the robot 46
Introduction to the differential steering system and robot kinematics 47
Explaining of the forward kinematics equation 48
Inverse kinematics 53
Introduction to ROS and Gazebo 54
ROS Concepts 55
Installing ROS Indigo on Ubuntu 14.04.2 58
Introducing catkin 61
Creating an ROS package 61
Hello_world_publisher.py 62
Hello_world_subscriber.py 64
Introducing Gazebo 66
Installing Gazebo 67
Testing Gazebo with the ROS interface 68
Installing TurtleBot Robot packages on ROS Indigo 69
Installing TurtleBot ROS packages using the apt package manager in Ubuntu 72
Simulating TurtleBot using Gazebo and ROS 72
Creating the Gazebo model from TurtleBot packages 74
What is a robot model, URDF, xacro, and robot state publisher? 76
Creating a ChefBot description ROS package 77
Simulating ChefBot and TurtleBot in a hotel environment 86
Questions 91
Summary 91
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