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ROS MANIPULATION IN 5 DAYS

Learn how to make your manipulator interact with the environment using ROS

About the Course

ROS Manipulation is the term used to refer to any robot that manipulates something in its environment.

The main goal of this Course is to teach you the basic tools you need to know in order to be able to understand how ROS Manipulation works, and teach you how to implement it for any manipulator robot.

What You Will Learn

At the end of this Course you will feel comfortable about the following subjects:

1. Basics of ROS Manipulation
2. How to create and configure a MoveIt! package for a manipulator robot
3. How to perform Motion Planning
4. How to perform Grasping.

12 hours

Robots used in this course:

- Shadow Robot Simulation
- Fetch Robot
- RB-1 Simulation

Learning Path
Unit 1

Introduction to the Course

What is ROS Manipulation
 (00:02 Hands on training)

Do you want to have a taste?
 (00:02 Hands on training)

What you will learn with this Course
 (00:02 Hands on training)

How you will learn it
 (00:02 Hands on training)

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

Special Thanks
 (00:01 Hands on training)

Unit 2

Basic Concepts

What you need to perform ROS Manipulation
(00:40 Hands on training)

Structure of a Manipulator Robot
(00:10 Hands on training)

Basic Terminology
(00:10 Hands on training)

Unit 3

Creating a MoveIt package

What is MoveIt!
(00:02 Hands on training)

Generating MoveIt! configuration package using Setup Assistant tool
(01:00 Hands on training)

The move_group node
(00:02 Hands on training)

Basic Motion Planning
(00:15 Hands on training)

MoveIt! planning scene
(00:02 Hands on training)

MoveIt! kinematics handling
(00:02 Hands on training)

MoveIt! collision checking
(00:02 Hands on training)

Moving the real robot
(00:50 Hands on training)

Unit 4

Perform Motion Planning programmatically

Exercise
(01:00 Hands on training)

Planning a trajectory
(00:15 Hands on training)

Planning to a joint space goal
(00:15 Hands on training)

Getting some useful data
(00:15 Hands on training)

Executing a trajectory
(00:15 Hands on training)

Unit 5

Adding Perception

Exercise
(01:00 Hands on training)

Adding Perception to MoveIt!
(01:00 Hands on training)

Unit 6

Grasping

What is Grasping
(00:02 Hands on training)

Grasping using MoveIt!
(00:30 Hands on training)

Creating a pick and place task
(01:00 Hands on training)

Grasping in the Real Robot
(00:30 Hands on training)

Unit 7

Project

Build the MoveIt! package
(00:25 Hands on training)

Connect the MoveIt! package with the simulation
(00:25 Hands on training)

Python Script
(00:25 Hands on training)

Add Perception to the MoveIt! package
(00:25 Hands on training)

Grasping
(00:25 Hands on training)

Unit 8

Final Recommendations

Keep Learning
(00:10 Hands on training)

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