13. Robotic System

This chapter introduces robotics — a major direction of machine learning — and robotic systems. The key aspects explored in this chapter are as follows:

• Basic knowledge of robotic systems

• Robotic perception system, planning system, and control system

• General Robot Operating System (ROS)

• 13.1. Overview of Robotic Systems
  • 13.1.1. Perception System
  • 13.1.2. Planning System
  • 13.1.3. Control System
  • 13.1.4. Robot Safety
• 13.2. Robot Operating System
  • 13.2.1. ROS 2 Nodes
  • 13.2.2. ROS 2 Topics
  • 13.2.3. ROS 2 Services
  • 13.2.4. ROS 2 Parameters
  • 13.2.5. ROS 2 Actions
• 13.3. Case Study: Using ROS
  • 13.3.1. Node Creation
  • 13.3.2. Parameter Reading
  • 13.3.3. Server-Client Service Mode
  • 13.3.4. Client
  • 13.3.5. Action Mode
  • 13.3.6. Action Client
• 13.4. Modern Robot Learning
  • 13.4.1. Overview
  • 13.4.2. Robot Interaction Environments
  • 13.4.3. Robot Skill Learning
  • 13.4.4. Deployment in real environments
• 13.5. Chapter Summary