Course

ROS Manipulation in 5 Days Python

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

Course Overview

Description

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.

Learning Objectives

  • Learn the basics of ROS Manipulation
  • Create and configure a MoveIt! package for a manipulator robot
  • Perform Motion Planning
  • Perform Grasping

Simulation robots used in this course

Fetch Robot, RB-1 Robot, Universal Robot Arm

ROS Navigation stack course background

Level

Intermediate

}

Duration

11h 59m

What projects will you be doing?

[ROS Q&A] 168 - What are the differences between global and local costmap

Motion Planning

Create a MoveIt Package to make the industrial robot perform motion planning

ROS Mini Challenge #2 - RViz

Moving the RB-KAIROS robot

Plan and execute trajectories for your robot using MoveIt

Perform motion planning with Python

Do Motion Planning Programmatically

Robotic Grasping

Make the robot arm detect and grasp an object

What you will learn

Course Syllabus

Unit 1: Introduction to the Course

A brief introduction to the Course, including a demo

10 min.

Unit 2: Basic Concepts
  • What you need to perform ROS Manipulation
  • Structure of a Manipulator Robot
  • Basic Terminology

1 hr.

Unit 3: Motion Planning using Graphical Interfaces Part 1
  • What is MoveIt!
  • Generating MoveIt! configuration package using Setup Assistant tool
  • The move_group node
  • Basic Motion Planning
  • MoveIt! planning scene
  • MoveIt! kinematics handling
  • MoveIt! collision checking
  • Moving the real robot

2 hrs. 15 min.

Unit 4: Motion Planning using Graphical Interfaces Part 2
  • Exercise
  • Adding Perception to MoveIt!

2 hrs.

Unit 5: Perform Motion Planning programmatically
  • Exercise
  • Planning a trajectory
  • Planning to a joint space goal
  • Getting some useful data
  • Executing a trajectory

2hrs.

Unit 6: Grasping
  • What is Grasping
  • Grasping using MoveIt!
  • Creating a pick and place task
  • Grasping in the Real Robot

2 hrs. 2 min.

Unit 7: Hands-on Project
  • Build the MoveIt! package
  • Connect the MoveIt! package with the simulation
  • Python Script
  • Add Perception to the MoveIt! package
  • Grasping

2 hrs. 5 min.

Ready to get started?

Create an account to start learning

What’s next

People interested in this course also viewed

Course

ROS for Industrial Robots 101

Course

Mastering Mobile Manipulators