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ME495 Sensing, Navigation, and Machine Learning for Robotics Schedule

Description

Welcome to the lecture notes for ME495: Sensing, Navigation, and Machine Learning for Robotics, an elective course for Northwestern University's Master of Science in Robotics Program!

This page has the schedule for a 10 week course. The notes are also organized by topic.

Winter 2025

Homework

  1. Homework Guidelines
  2. Homework 1 [Due 1/20 at 9am].
  3. Homework 2 [Due 2/9 at 9am].

Day 1: Course Introduction

  1. Install a more up-to-date C++ Compiler and make it the default: 

    sudo apt install g++-14 gcc-14
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 100
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 100
  2. These links will likely be helpful in transitioning from ROS python to ROS C++

Day 2: Basic C++

  1. C++ Basics
  2. CMake Basics
  3. Exploring CMake

Day 3: CMake Deep-Dive

  1. CMake Basics
  2. Ament CMake

Day 5: Rigid Body Transforms in 2D

  1. 2D Transforms Review

Day 6: Deriving Kinematics

  1. Deriving Kinematics

Day 7: Odometry

  1. Odometry

Day 8: Testing and Debuging

  1. Unit Testing and Debugging

Day 10: SLAM Introduction

  • Discussed a general overview of the SLAM problem
Winter 2024

Day 1

These links will likely be helpful in transitioning from ROS python to ROS C++

Day 2

  1. CMake Basics

Day 4

  1. ROS2 and C++

Day 7

  1. Odometry

Day 8

  1. Debugging

Day 9, 10

  1. Turtlebot 3

Day 11, 12

Probability Review

Day 14

Kalman Filter

Author: Matthew Elwin.