Course

ROS2 Navigation

Learn to autonomously navigate robots in ROS2

ROS2 Foxy

Course Overview

Navigation is one of the key features any mobile robot must have. With the arrival of ROS2, it becomes very important to learn how to make your robot autonomously navigate.

You will learn:

  • Learn how to create a map of the environment
  • Learn how to localize a robot in an environment
  • Learn how to perform path planning from an initial position to a goal destination
  • Learn how to avoid obstacles while executing the planned path

Simulation Robots Used

Turtlebot3 Burger, Turtlebot3 Waffle

ROS

40 hours

COURSE CREATOR

Shyam Ganatra
Roboticist

Passionate about robotic automation and making robots intelligent. Has worked on Autonomous Navigation Systems for indoor and outdoor wheeled robots. His interests include reproducible research, vision for robots, and security for robots.

What exercises will you be doing

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

Mapping

Create a map of a house using the robot’s sensors and cartographer package.

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

Localization

Localize the TurtleBot3 robot in a map using the amcl package.

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

Path Planning

Make the robot autonomously navigate to a goal position.

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

Project

Create your own package for a robot to fully navigate autonomously within a house.

Course Summary

Chapter 1: Introduction to ROS2 Navigation

Navigation is one of the key abilities of a robot. Navigation can help to move a robot from one point to another, avoiding obstacles and without hitting anyone. But how does a robot know where it is, where it has to go, and how to avoid hitting anything on the way? There’s no end to your curiosity. We’ll learn all these answers in this course.

Topics covered in this unit are :

  • How robots Navigate?
  • Demo of ROS2 navigation
  • What is ROS2 Navigation stack?
  • Different components of ROS2 Navigation stack
Chapter 2: How to build a map

In this unit, you’ll be learning about an important concept in navigation, i.e how to build a map.

Topics covered in this unit are :

  • What is a map in ROS?
  • How to build a map in ROS2
  • SLAM
  • Cartographer
Chapter 3: How to localize the robot in the environment

In this unit, you’ll be learning an important concept in navigation, i.e. how to build a map.

Topics covered in this unit are :

  • What is meant by Localizing a robot in the environment?
  • How to do localization in ROS2
  • Providing map tp map_server
  • AMCL
Chapter 4: How to do Path Planning in ROS2

In this unit, you’ll be learning an important concept in navigation, i.e. how to build a map.

Topics covered in this unit are:

  • What is meant by Path Planning
  • How to do Autonomous Navigation in ROS2
  • How to do Path Planning in ROS2
  • Controller in ROS2 Navigation
  • Planners in ROS2 Navigation
  • Recoveries in ROS2 Navigation
Chapter 4-II: How Obstacle Avoidance happens in ROS2

In this unit, you’ll be learning an important concept in navigation, i.e. how to build a map.

Topics covered in this unit are:

  • What is Costmap 2D?
  • Global Costmap
  • Local Costmap
  • Layers of costmap
Chapter 5: Course Project

Topics covered in this unit are:

  • Practice everything you’ve learned up until now
  • Create your own packages for ROS2 Navigation

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