89-685: Introduction to Robotics

Fall 2015

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

Course from semester Fall 2014

Notifications

Lectures

Slides Topics Code demos
Lesson 1
  • Introduction to ROS
  • ROS core concepts: nodes, topics, services and messages
  • ROS installation
 
Lesson 2
  • ROS basic commands
  • turtlesim demo
  • catkin build system
  • Integrating Eclipse with ROS
  • Writing your first node
  • Running and debugging the node
hello.cpp
Lesson 3
  • Publishing messages to topics
  • Subscribing to topics
  • Differential drive robots
  • Sending velocity commands from code
  • roslaunch
my_turtle.zip
Lesson 4
  • Stage simulator
  • Reading laser sensor data
  • Writing a simple walker
my_stage.zip
Lesson 5
  • Mapping in ROS
  • ROS visualization tool - rviz
  • ROS services
 
Lesson 6
  • ROS transformation system (tf)
  • Writing a tf broadcaster
  • Writing a tf listener
  • Get robot's location on map
tf_demo.zip
Lesson 7
  • ROS navigation stack
  • Navigation planners
  • Costmaps
  • Sending goal commands
 
Lesson 8
  • Adaptive Monte-Carlo Localization (amcl)
  • actionlib
  • Sending goals from code
  • Making navigation plans
send_goals.zip
Lesson 9
  • Create a 3D model of our robot
  • URDF and Xacro files
  • Joint State Publisher
  • Watching the 3D model on rviz
 
Lesson 10
  • Gazebo 3D simulator
  • Model SDF files
  • Gazebo and ROS integration
  • TurtleBot simulator
turtlebot_random_walk.zip
Lesson 11
  • Robotic coverage problem
  • Where to go next?
 

Assignments

Assignment Out Due Notes Grades
Assignment 1 17/11/15 6/12/15 Worth 10% of your final grade Grades
Assignment 2 29/12/15 21/1/16 Worth 10% of your final grade Grades
Final Project 19/1/16 28/2/16 Worth 20% of your final grade Grades

Notes