Course content
- Introduction to ROS (Robot Operating System)
Overview of ROS, its architecture, history, and use cases in robotics development. - Setting Up ROS Development Environment
Installing ROS (Noetic or ROS2), setting up Ubuntu, and configuring workspaces. - ROS Basics: Nodes, Topics, and Messages
Understanding the core concepts of ROS such as nodes, topics, and messages for inter-process communication. - Creating and Running ROS Nodes
Writing and running simple ROS nodes using Python (rospy) and C++ (roscpp). - Understanding ROS Launch Files
Creating and using launch files to start multiple nodes simultaneously. - ROS Parameters and Parameter Server
Managing parameters using the ROS parameter server for node configuration. - Working with ROS Publishers and Subscribers
Setting up publisher-subscriber communication between nodes using topics. - Introduction to ROS Services and Actions
Understanding services and actions for request-response and goal-based interactions between nodes. - Interfacing with Sensors: LIDAR, Cameras, and IMUs
Connecting sensors like LIDAR, cameras, and IMUs to ROS and processing sensor data. - ROS TF: Working with Coordinate Frames
Using the ROS TF library to manage coordinate transformations between different parts of the robot. - Simulating Robots with Gazebo and RViz
Running robot simulations using Gazebo and visualizing robot models and sensor data in RViz. - Working with URDF for Robot Modeling
Creating and understanding URDF files to model robots in ROS and visualize them in RViz. - Building a Simple Mobile Robot in ROS
A project where students design and control a simple mobile robot using ROS and sensors. - Controlling Robots: Teleoperation and Joystick Control
Implementing teleoperation of a robot using keyboard input or a joystick. - ROS Packages: Structure and Best Practices
Organizing ROS projects into packages and learning best practices for creating reusable packages. - Deploying a Simple ROS Project
Final project: Building, simulating, and controlling a robot using ROS nodes, topics, and sensors.
Capstone Project
- Autonomous Line-Following Robot: Create a robot that uses sensors to detect and follow a line, implementing basic navigation and control techniques.
- Simple Object Tracker: Develop a robot that utilizes a camera and computer vision to detect and track a moving object in its environment.
- SLAM Mapping Demo: Build a robot that explores an area and generates a map in real-time using SLAM algorithms, demonstrating localization and mapping capabilities.
- Robotic Arm Task Automation: Design a robotic arm that can perform simple pick-and-place tasks using ROS control and MoveIt! for motion planning.
- Multi-Robot Coordination Simulation: Implement a simulation with multiple robots collaborating to complete a shared task in Gazebo, showcasing communication and task allocation.
Course Detail : https://iroschool.org/ros-developer/
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