Skip to content

Latest commit

 

History

History
150 lines (87 loc) · 2.77 KB

readme.adoc

File metadata and controls

150 lines (87 loc) · 2.77 KB

Advanced - PRSG Courseware

Description

In this course we add more power by adding a Raspberry Pi 3 and ROS.

Objectives

  • Introduction to ROS

  • Develop planning for robot

Prerequisites

  • Intro+ Sensors class or knowledge? Permission?

Materials and Tools

Materials

  • Installed Software from intro

  • Camera

  • IMU

  • Lidar?

  • Speaker?

  • Mic?

Tools

  • Laptop

Class 1

Presentation - ROS + Ubuntu

Why ROS, what is ROS?

Getting started with Ubutnu.

Lab - 'What are your objectives?'

Discuss with student what they want to get out of the course

Class 2

Presentation - Discussion of ROS environment

Short discussion

Lab - Build your ROS environment on PC (Configuring Your ROS Environment)

Class 3

Presentation - ROS Commands

Lab - Try command examples

Class 4

Lab - Tutorials, including messages, services, ROS Nodes, actions, etc.

Class 5

Presentation - Raspberry Pi 3 Model B

Lab - Prepared Operating System SD Card/ Ubuntu Setup

Ubuntu ARM install of ROS Indigo

Homework - Check that Tutorial work on PI

Class 6

Presentation - ROS network

Lab - Run talker on RPI and Subscriber on VM

Class 7

Presentation - Robot Hardware

Communications in a Robot; i2c, UART, etc.

Class 8

Presentation - ros_arduino_bridge

Lab - Run ros_arduino_bridge on you harware

Class 5

Presentation - TeleOp

Lab - Run your robot with Teleop

Class 6

Presentation - rqt

Lab - run your robot with Teleop plot you sensor data in rqt

Class 7

Presentation - TF Frames

Lab -

Class 8

Presentation - DF/Xacro

Lab - create your robots urdf

Class 9

Presentation - launch files

Lab - create your robots launch files

Class 10

Presentation - controlling robot

Lab - write code to drive robot in a square

Class 11

Presentation - odometry in a ROS environment

Define odometry for students === Lab - Calibrate your robot odometry

Class 12

Presentation Moveit

License

The materials for this document are licensed under the Apache license. See the file LICENSE for details.

Copyright 2016 D Nielsen & F Douthit

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0.

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.