ROS in Autonomous Systems Applications
The main purpose of this course is to teach how to utilize the Robotics Operating System (ROS) in implementing different autonomous systems application.
During this course, we will go through all steps starting form installing the Ubuntu OS and ROS, introducing some advanced topics related to the different challenges facing any autonomous system and how to implement them on ROS.
Moreover, we will introduce some tutorials related to the deployment of ROS on the hardware level using Raspberry pi as a high-level controller in mobile robots.
During this course, we will go through all steps starting form installing the Ubuntu OS and ROS, introducing some advanced topics related to the different challenges facing any autonomous system and how to implement them on ROS.
Moreover, we will introduce some tutorials related to the deployment of ROS on the hardware level using Raspberry pi as a high-level controller in mobile robots.
- The recording language of this course is Arabic. However, all codes and available documents are in English language.
- The main programming language in this course in Python.
Let's begin and hope that you find beneficial :)
Topics
- Introduction to Autonomous Systems Modules
- Introduction to ROS
- System Breakdown
- ROS / Ubuntu Installation - Process
- Breakdown ROS Structure
- ROS packages
- ROS Nodes
- ROS Topics
- ROS Publisher and Subscriber
- Gazebo/Building Worlds
- Turtlebot 3 Robot
- Implementation of Control Module - Point to Point Control
- Implementation of Control Module - Lyapunov-based Control
- Implementation of Control Module - Fuzzy Logic Control
- Implementation of Path Planning Module (1) - A*
- Implementation of Path Planning Module (2)- Artificial Potential Field
- Implementation of Navigation Module - (TBD)
- Implementation of State Estimation Module - Kalman Filter
- Implementation of Mapping Module - G-mapping
- System Integration
- Raspberry Pi / ROS Installation - Process
- Raspberry Pi / ROS - Experiments
