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Self-Driving Cars Using ROS 101

Introduction to Self-Driving cars in the ROS ecosystem

About the Course

The goal of this course is to show you the basic knowledge you need to master in order to program autonomous cars for a Level 3 of autonomy.

This means, it is expected that all task should be performed autonomously, but at the same time it is expected to intervene a human driver whenever required. This level is called conditional automation.

What you will learn

In this course you are going to learn the essentials for doing autonomous cars control using ROS. You are going to learn:

1. What are the sensors required for an autonomous car and how to access them using ROS
2. How to do autonomous navigation using a GPS
3. How to create an obstacle avoider for an autonomous car
4. How to interface ROS with a car that follows the DBW interface

7 hours

Robots used in this course:

- Simulated DBW MKZ

Learning Path
Unit 1

Introduction to the Course

Introduction
 (00:02 Hands on training)

Sensors
 (00:02 Hands on training)

Autonomous navigation
 (00:02 Hands on training)

The DBW interface for autonomous cars and CAN-Bus
 (00:02 Hands on training)

Minimum requirements for this course
 (00:01 Hands on training)

Special thanks
 (00:01 Hands on training)

Unit 2

Sensors

Basic Sensors List
(00:20 Hands on training)

Unit 3

GPS Navigation

Introduction
(00:10 Hands on training)

Creating a GPS Subscriber
(00:20 Hands on training)

Move To WayPoint GPS ACTION Server
(00:20 Hands on training)

Move To WayPoint GPS ACTION Client
(00:20 Hands on training)

Unit 4

Obstacles and Security

Controle the Car movement Data Flow
(00:05 Hands on training)

System Failure Mesures and DeadMansSwitch
(00:05 Hands on training)

Obstacle Detection
(01:50 Hands on training)

Unit 5

CAN-Bus

How Can-Bus messages look like
(0:05 Hands on training)

How we use CAN-Bus in the simulation
(0:05 Hands on training)

Exercises
(1:50 Hands on training)

Unit 6

Microproject

Instructions and the Project itself
(08:00 Hands on training)

Unit 8

Final Recommendations

Keep Learning
(00:10 Hands on training)

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