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Mon-Fri 9:00AM - 6:00PM
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ROS NAVIGATION IN 5 DAYS

Learn how to make your wheeled robot navigate using ROS

About the Course

The objective of this ROS Navigation course is to give you the basic tools and knowledge to be able to understand and create any basic ROS Navigation related project.

You will be able to create maps of environments, localize the robot in the environment, make the robots perform path planning, visualize data of the different Navigation processes, debug errors using RViz and configure the different Navigation nodes.

The course provides teaching lessons in two different ways:

1. Learn ROS Navigation programming several robots: Theory through hands on experience.
2. Apply what you learnt to a Robot Project: Here you will apply what you have learnt in the previous units by attacking a full project controlling a Summit XL robot.

What You Will Learn

At the end of the course you will be comfortable with the following subjects:

✓ The ROS Navigation Stack
✓ What is needed to work with the Navigation Stack
✓ What is the move_base node and why it is so important
✓ Which parts take place in the move_base node

28 hours

Robots used in this course:

- Kobuki TurtleBot
- Husky
- Summit XL

Learning Path
Unit 0

Basic Concepts

What is needed to perform robot navigation with ROS
 (01:00 Hands on training)

How to configure your Robot
 (00:15 Hands on training)

The Navigation Stack
 (00:05 Hands on training)

Hardware Requirements
 (00:20 Hands on training)

The move_base node
 (00:20 Hands on training)

Unit 1

Guide for ROS Navigation in 5 Days

It is possible to learn ROS fast if you have the proper method
(00:03 Hands on training)

Robots we are going to use along the course
(00:02 Hands on training)

Main Objective of this course
(00:02 Hands on training)

Learning ROS Navigation: attack in two ways
(00:05 Hands on training)

Apply what you learnt to a Robot Project
(00:02 Hands on training)

How to proceed with the whole course
(00:03 Hands on training)

Unit 2

Mapping

Visualize Mapping in RViz
(00:10 Hands on training)

Simultaneous Localization and Mapping (SLAM)
(01:00 Hands on training)

Hardware Requirements
(00:10 Hands on training)

Transforms
(00:40 Hands on training)

Creating a launch file for the slam_gmapping node
(00:10 Hands on training)

Build a Map Using Logged Data
(00:10 a Hands on training)

Unit 3

Localization

Visualize Localization in RViz
(00:25 Hands on training)

Monte Carlo Localization (MCL)
(00:05 Hands on training)

The AMCL Package(MCL)
(00:25 Hands on training)

Hardware Requirements(MCL)
(00:10 Hands on training)

Creating a launch file for the AMCL node(MCL)
(00:25 Hands on training)

AMCL through Services
(00:30 Hands on training)

Unit 4

Path Planning 1

Visualizing Path Planning in RViz
(00:45 Hands on training)

The move_base package
(00:45 Hands on training)

The Global Planner
(01:00 Hands on training)

Global Costmap
(00:30 Hands on training)

Unit 5

Path Planning 2

The Local Planner
(01:00 Hands on training)

Local Costmap
(01:00 Hands on training)

Recovery Behaviors
(00:15 Hands on training)

Clear Costmap
(00:15 Hands on training)

Oscillation Suppression
(00:15 Hands on training)

Dynamic Reconfigure
(00:15 Hands on training)

Unit 6

Navigation Project

How to give a Service
(01:00 Hands on training)

How to create your own service message
(01:00 Hands on training)

Custom Service Compilation
(01:00 Hands on training)

Unit 9

Debugging Tools

ROS What The F*ck
(00:15 Hands on training)

ROS Debugging Messages and RQT-Console
(00:15 Hands on training)

Plot topic data and RQT Plot
(00:15 Hands on training)

Node Connections and RQT graph
(00:15 Hands on training)

Record experimental data and ROSBags
(00:15 Hands on training)

Visualize Complex data and RViz
(00:15 Hands on training)

Unit 11

Turtlebot Project

Win the TurtleBot Race!
(00:30 Hands on training)

What Turtlebot provides to program It
(00:30 Hands on training)

Ideas to start working on
(00:30 Hands on training)

Steps you should cover
(08:30 Hands on training)

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