89-685: Introduction to Robotics

Fall 2016

TA : Mr. Roi Yehoshua
Email: roiyeho@gmail.com

Course web site
Course from semester Fall 2015

Notifications

Lectures

Slides Topics Code demos
Lecture 1
  • Introduction to ROS
  • ROS core concepts: nodes, topics, services and messages
  • ROS installation
  • ROS basic commands
 
Lecture 2
  • catkin build system
  • Integrating Eclipse with ROS
  • Writing your first node
  • Running and debugging the node
hello.cpp
Lecture 3
  • ROS topics
  • Publishers and subscribers
  • Sending velocity commands to the robot
  • roslaunch
  • Creating custom messages
my_turtle.zip
Lecture 4
  • Gazebo simulator
  • Reading sensor data
  • Wander-bot
stopper.zip
Lecture 5
  • Mapping in ROS
  • ROS visualization tool (rviz)
  • ROS Services
  • Loading map into memory
mapping.zip
Lecture 6
  • ROS transformation system (tf)
  • Get robot's location on map
tf_demo.zip
Lecture 7
  • ROS navigation stack
  • Navigation planners
  • Costmaps
  • Sending goal commands
 
Lecture 8
  • ROS actions
  • Sending goals from code
  • Making navigation plans
send_goals.zip
Lecture 9
  • Create a 3D model of the robot
  • URDF and Xacro files
  • SDF model files
 
Lecture 10
  • Integrating OpenCV with ROS
  • Robot vision
  • Follow-bot
follow_bot.zip
Lecture 11
  • Behavior-based robotics
  • Where to go next?
 

Assignments

Assignment Out Due Notes Grades
Assignment 1 7/12/16 25/12/16 Worth 10% of your final grade Grades
Assignment 2 25/12/16 29/1/17 Worth 15% of your final grade Grades
Assignment 3 1/2/17 19/3/17 Worth 15% of your final grade Grades

Notes