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The objective of this course, created by Manchester Robotics Ltd. (MCR2), is to equip students with the skills needed to operate mobile robots in different environments.
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This course is divided into two sections, carefully designed for the user to learn about the different aspects of ROS, from topics and messages to control and simulation of a real robot. These sections will span throughout a five-week period, with two lessons per week.
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The first part of this course introduces the basic concepts and general knowledge of the ROS environment to the user. The second part of the course is dedicated to the analysis, control, and simulation of mobile robots in different environments.
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This course will be based on challenges to make the student aware of the problems faced while implementing advanced intelligent algorithms in robotics.
- MCR2 Person in Charge: Dr Alexandru Stancu and Dr Mario Martinez
- Tecnológico de Monterrey Person in Charge: Dr. Consuelo Rodríguez Padilla and Dr. Carlos Vazquez
- Duration: 5 Weeks
- Student counselling: Via appointment.
- Classes: 10 sessions, 1 group.
- Group 1: Tuesday, Wednesday and Friday, 9- 11 AM (Central Mexico Time)
- Start Date: 12 Febraury 2023
- TBD
General requirements. Please be aware that a set of requirements specific to each session will be shown in each session subsection (Some items may be repeated).
- Computer with access to Zoom (online classes).
- Computer with Ubuntu 20.04 and ROS Noetic or the Virtual Machine provided by MCR2.
- Knowledge of Windows.
- Basic knowledge of Ubuntu (recommended).
- Basic understanding of robotics (recommended).
- Basic understanding of control (recommended).
This session will introduce the teaching team and the basics of ROS.
- Who are we?
- Introduction to robotics.
- Introduction to VM/Ubuntu
- Introduction to ROS
- Overview of ROS Environment
- Topics, Messages
- Introduction to ROS
- Overview of ROS Environment
- Topics, Messages
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Generate a node that sends a message to another node to listen to it.
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Create a Launch file for the nodes created.
- Generate a node that sends a signal to another node to process it.
Requirements:
- Computer with access to Zoom
- Ubuntu 20.04
- ROS Noetic Installed (Full installation).
- If Ubuntu 20.04 cannot be installed, MCR2 offers a Virtual Machine with ROS preinstalled (installation instructions in Week 1 Folder).
This week, we will be delivering a comprehensive introduction to some of the most practical and relevant features of the Robot Operating System (ROS).
- Solution of Mini-challenge 1.
- ROS Namespaces
- ROS Parameter Server
- RVIZ Introduction
- Transformations
- RVIZ Introduction
- Transformations
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Use namespaces to create two node groups
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Parametrise previous nodes.
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Use parameter files to parametrise previous nodes.
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Create a simple marker in RVIZ.
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Create a static transform for RVIZ
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Create dynamic transforms in RVIZ.
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Create multiple movable markers in RVIZ.
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Listen to a transform in RVIZ.
- Show a simple mobile robot in RVIZ using markers and TF.
Requirements: Requirements of Session 1.
This week, we will introduce the concept of URDF files in the context of Robot Operating System (ROS). This will involve an in-depth exploration of these files' underlying architecture and functionality, focusing on their role in facilitating the creation and deployment of robotic systems.
- Solution of Mini-challenge 2.
- URDF Introduction
- Joints
- Robot State Publisher
- Joint State Publisher
- Joint State publisher
- Links
- Joint State publisher
- Links
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Create a simple URDF.
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Create a simple movable joint
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Create a simple prismatic joint.
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Create a simple revolute joint.
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Create a simple joint stat publisher.
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Create a simple joint state publisher for a prismatic joint.
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Create a simple joint state publisher for a revolute joint.
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Make a simple pneumatic cylinder
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Make a simple servo motor model.
- Show a DC motor dynamical behaviour using a first-order system node in RVIZ.
Requirements: Requirements of Session 1.
This week's curriculum will encompass the core concepts of mobile robots and simulation.
- Solution of Mini-challenge 3.
- Simulation and Modelling Basics.
- Dynamical Systems
- Dynamical Systems
- Differential Drive Basics.
- Differential Drive Basics.
- Kinematic Model of a DDR.
- Gazebo simulation of a DDR.
- Simulate the dynamics of a Motor.
- Develop a node to perform a kinematic simulation of a DDR.
Requirements: Requirements of Session 1.
This week will introduce some basics of open-loop and closed-loop control for mobile robotics.
- Open loop control theory.
- Differential Drive Robot Open-Loop Control.
- Open loop control theory.
- Differential Drive Robot Open-Loop Control.
- Closed loop control theory.
- Closed loop control theory.
- Differential Drive Robot Closed-Loop Control for path following.
- Presentation of the Final Challenge
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Simple DDR control.
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Open Loop Path following of a real Mobile Robot
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Simple closed-loop control
- Closed Loop control for Path following a Mobile Robot.
Requirements: Requirements of Session 1.
At Manchester Robotics, we firmly believe that innovation is driven by change, so we have made it our mission to change access to educational robotics. We hope you enjoy our products and support this revolution.
So, from the team at MCR2, we would like to say
Thank you!
{Learn, Create, Innovate};
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