When the students reached certain points, I explained the theory and some practical things in more detail on the blackboard. This included, for example:
- Introductions
- Components of a robot: sensors, motors, motor-controller
- Transformations (A lot)
- Kalman-Filter (beginning with 1D example)
- SLAM pose graph incl. different uncertainties for linear and rotational motion
- MCL, kidnapped robot problem, multimodal distributions
- Nav2, layers, search algorithms, ...
Furthermore, I am aware of more nice ROS tools that help to finish things faster. However, I did not mention them because the students had to learn enough commands anyways.
These tutorials were tested by 12 undergraduate students of Osnabrück Univertity. They were in their 3rd or 5th semester and did not have much experience with C++, nor with CMake, or Linux. It took them 6 days to finish with ex04_navigation. They then had to work on a project for about 1.5 weeks and give a 30-minute presentation including a demonstration at the end. The remaining days were spent on documentation. In total, it took 3 weeks full-time.