ME 495: Embedded Systems In Robotics
Table of Contents
1 Lecture Notes
- Introduction to ROS
- ROS Concepts
- Catkin, Workspaces, and Environment Variables
- Exploring a Nontrivial Example
- Names and Launch Files
- TF in ROS
- Modeling Robots in ROS
- Visualization Tools in ROS
- ROS and Parallel Processing in Python
- Quaternions and More Geometry
- Simulators in ROS
- ROS Dependencies and Related Tools
- Baxter and Sawyer Introduction and Resources
- MoveIt! Introduction
- Introduction to Image Processing in ROS
- Introduction to the ROS Navigation Stack
- Introduction to Path Planning
- Particle Filters and Localization
2 Homework Assignments
- Walkthrough: ROS Messages and location_monitor
- Walkthrough: ROS Parameters and the wanderbot
- Mobile robot control, inverse kinematics, URDFs, and markers
- ROS command line tools, and publisher/subscriber challenge
- Gazebo and ROS Control
- Navigation and particle filter estimation
- Final Project (Fall 2015)
- Final Project (Fall 2016)
- Final Project (Fall 2017)
- Final Project (Fall 2018)
3 Resources and Files
3.1 MSR orientation files
- Linux introduction document
- Linux command line exercises
- Linux package management guidelines
- Introduction to Compiling Code in Linux
- SSH lab exercise
- Bash cheat sheet (from the http://cli.learncodethehardway.org)
- List of useful cheat sheets
- Introduction to Git
- Git exercises
- Python introduction
- Setting up PyCharm with ROS
- Notes on Anaconda usage
- RRT programming challenge
3.2 General ROS Resources
- ROS Glossary
- Official ROS Cheat Sheet view in browser or visit the download page
- ROS Tutorial Series from Clearpath Robotics
- learn.turtlebot.com a series on learning ROS through using the Turtlebot
- GaiTech Education Portal contains tutorials on ROS in general, plus tutorials on using Turtlebots and quadrotors with ROS
