Autonomous Robotics Course

Instructor: Eng.Khaled Gabr

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### Course Content

- Introduction to Linux, Terminal, and Shell
- Python Programming
- C++ Programming
- Introduction to ROS and ROS installation
- ROS Core Concepts:
  - Master
  - Nodes
  - Topics
  - Messages
  - Services
- ROS Labs (rostopic, rosmsg, rosnode, rosservice)
- Creating a ROS WorkSpace and Packages
- Writing a ROS Publisher and Subscriber
- Writing a ROS Service and Client
- Creating a Custom ROS Message
- ROS Tools:
  - Launch files
  - ROS Bag
  - RQT
  - Remap
- Gazebo, RVIZ: creating a custom robot using Gazebo
- Creating a custom robot using URDF
- Adding Gazebo plugins with ROS
- Kinematics with ROS
- Turtlebot3 Lab
- ROS project
- TF ROS
- 2D and 3D Frames
- Transformations
- Localization:
  - Kalman Filter
  - MCL
  - AMCL Package
- SLAM
- Navigation

ROS Tasks

Note: All nodes written in C++ and Python also.

Task 1

• count_ws
  • publisher and subscriber to start count from 100 until the user uses CTRL C.
  • 
• nomeer_ws
  • publisher and subscriber using String msg("I am Learning Robotics and ROS") until the user uses CTRL C.
  • 

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Task 2

• nomeer_robot_ws

  • move_pkg with robot_py.launch file.

  • publish data to the /cmd_vel topic.

  • Modify the code in order to print the odometry of the robot.

  • Python file that creates a publisher that indicates the age of the robot

    

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Task 3

• control_nomeer_roboot_ws

  • Users can input a linear (x) velocity in the range [2,6] (floating point allowed)
  • Users can input an angular (z) velocity [2,6] (floating point allowed)
  • another node to publish data to the /cmd_vel topic

  

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Task 4

• nomeer_ws

  • publisher and subscriber to count from 0 until the user uses CTRL C.
  • message nodes that publish Complex(real, imaginary) numbers.
  • a service that can count the number of words, ex: i love you >> 3, you are the best >> 4.

  

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Task 5

• gazebo

  • first gazebo task
  • create Model(Robot) & Environment
  • Adding the Environment + Model inside a World
  

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Task 6

• URDF
  • Tasks 6.1:
    • Create custom robot using URDF/XACRO the robot should have:

      • 4 driver wheels

      • Normal Camera, the camera should be in front of robot.

      • Lidar should be at the center of robot.

        

  • Tasks 6.2:
    • Create custom robot using URDF/XACRO the robot should have:

      • 4 driver wheels OR 2 driver wheels and 1 driven free wheel(Castor wheel)

      • Normal Camera, the camera should be in front of robot.

      • the robot should have a tour at least 1m height attached with last edge of robot.

      • 1 Depth Camera(Xbox camera, RealSense Camera,..), the camera should be attached to the tour and at least at height 1m of robot.

      • Lidar should be at the center of robot.

        

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Task 7

• Gazebo Plugin
  • Add Gazebo Plugin (lidar, camera, diff) for Task 6.2 Robot. (gazebo.xacro)
  • download .stl or .dae file for the lidar and added to mesh folder also added to your URDF
  • create your world in gazebo
  • launching the robot in your world (robot.launch)