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Hands-On ROS for Robotics Programming

(ROBOTICS.AJ1)
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1

Preface

  • Who this course is for
  • What this course covers
2

Assembling the Robot

  • Understanding the GoPiGo3 robot
  • Getting familiar with the embedded hardware
  • Deep diving into the electromechanics
  • Putting it all together
  • Quick hardware test
  • Summary
3

Unit Testing of GoPiGo3

  • Technical requirements
  • Getting started with Python and JupyterLab
  • Unit testing of sensors and drives
  • Summary
4

Getting Started with ROS

  • Technical requirements
  • ROS basic concepts
  • Configuring your ROS development environment
  • Communication between ROS nodes – messages and topics
  • Using publicly available packages for ROS
  • Summary
5

Creating the Virtual Two-Wheeled ROS Robot

  • Technical requirements
  • Getting started with RViz for robot visualization
  • Building a differential drive robot with URDF
  • Inspecting the GoPiGo3 model in ROS with RViz
  • Robot frames of reference in the URDF model
  • Using RViz to check the model while building
  • Summary
6

Simulating Robot Behavior with Gazebo

  • Technical requirements
  • Getting started with the Gazebo simulator
  • Making modifications to the robot URDF
  • Verifying a Gazebo model and viewing the URDF
  • Moving your model around
  • Summary
7

Programming in ROS - Commands and Tools

  • Technical requirements
  • Setting up a physical robot
  • A quick introduction to ROS programming
  • Case study 1 – writing a ROS distance-sensor package
  • Working with ROS commands
  • Creating and running publisher and subscriber nodes
  • Automating the execution of nodes using roslaunch
  • Case study 2 – ROS GUI development tools – the Pi Camera
  • Customizing robot features using ROS parameters
  • Summary
8

Robot Control and Simulation

  • Technical requirements
  • Setting up the GoPiGo3 development environment
  • Case study 3 – remote control using the keyboard
  • Remote control using ROS topics
  • Remotely controlling both physical and virtual robots
  • Summary
9

Virtual SLAM and Navigation Using Gazebo

  • Technical requirements
  • Dynamic simulation using Gazebo
  • Components in navigation
  • Robot perception and SLAM
  • Practising SLAM and navigation with the GoPiGo3
  • Summary
10

SLAM for Robot Navigation

  • Technical requirements
  • Preparing an LDS for your robot
  • Creating a navigation application in ROS
  • Practicing navigation with GoPiGo3
  • Summary
11

Applying Machine Learning in Robotics

  • Technical requirements
  • Setting up the system for TensorFlow
  • ML comes to robotics
  • From ML to deep learning
  • A methodology to programmatically apply ML in robotics
  • Deep learning applied to robotics – computer vision
  • Summary
12

Machine Learning with OpenAI Gym

  • Technical requirements
  • An introduction to OpenAI Gym
  • Running an environment
  • Configuring the environment file
  • Running the simulation and plotting the results
  • Summary
13

Achieve a Goal through Reinforcement Learning

  • Technical requirements
  • Preparing the environment with TensorFlow, Keras, and Anaconda
  • Understanding the ROS Machine Learning packages
  • Setting the training task parameters
  • Training GoPiGo3 to reach a target location while avoiding obstacles
  • Summary

1

Assembling the Robot

  • Configuring Class Map for CoPP
2

Unit Testing of GoPiGo3

3

Getting Started with ROS

4

Creating the Virtual Two-Wheeled ROS Robot

5

Simulating Robot Behavior with Gazebo

6

Programming in ROS - Commands and Tools

7

Robot Control and Simulation

8

Virtual SLAM and Navigation Using Gazebo

9

SLAM for Robot Navigation

10

Applying Machine Learning in Robotics

11

Machine Learning with OpenAI Gym

12

Achieve a Goal through Reinforcement Learning

Hands-On ROS for Robotics Programming

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