ME495 Embedded Systems in Robotics Schedule

• Monday 3-4pm
• Friday 11-12pm

Class on 11/07/2024 will be in the lab. Please make sure to setup the Franka Workspace on your computer.

• Guidelines
• Homework 1 (Issued 09/24/2024. Due 10/08/2024.)
• Homework 2 (Issued 10/08/2024. Due 10/29/2024.)
• Homework 3 (Issued 10/29/2024. Due 11/19/2024.)
  • Checkpoints:
  • 11/07/2024: Part I Complete
  • 11/12/2024: Part II Basic Functionality Integrated
• Homework 4 (Issued 11/14/2024. Due 12/03/2024.)

• Final Project Proposal : (Issued 10/31/2024. Due 11/14/2024)
• Presentations: 12/12/2024: 12pm - 2pm. In the lab.
• Final Git Repository and Group Peer Evaluation: Due 12/12/2024 at 11:59 pm

• The course syllabus is available on canvas
• MSR Honor Code
• Citation Rules
• Preliminaries
• About ROS
• Basics
• Homework 1

• Basics
• Workspaces and Packages
• The ROS API and Python
• ROS 2 Basics Demonstration Code

• Launchfiles
• Custom Interfaces
• Spinning and Async

• PubSub Activity

• TF Notes
• TF Activity
• Homework 2

• TF Notes
• URDF Activity

• TF Notes
• Modeling Robots
• URDF Activity

• First, a little bit of xacro
• Python Launchfiles

• VSCode Ament Flake8
  • This link is provided for convenience only. The use and configuration of text editors is beyond the scope of this class.
• Visualization
• Markers Example
• Design, Documentation, Testing

• Simulation
• Gazebo Example

• Simulation
• Homework 3

• Basics: Actions
• Franka Setup
• MoveIt
• MoveIt Activity
• Final Project

• Basics: Actions
• MoveIt
• MoveIt Activity
• https://github.com/m-elwin/me495_inspector
• Navigation
• NuBot

• Franka Setup

• Discussion of MoveIt and approaches to Homework 3 Part II
• Basics: Actions
• Computer Vision

• Computer Vision
• AprilTag Activity

Go over projects and get some lab time.

• Computer Vision
• RealSense
• Point Clouds

• ROS 2 C++ Tutorials
• Point Clouds
• Pointcloud Demo

• ROS 2 Control

1. Using Pip With ROS
2. Ultralytics YOLO
3. YOLO Example