Self Driving and ROS 2 - Learn by Doing! Map & Localization
- Description
- Curriculum
- FAQ
- Reviews
Would you like to build a real Self-Driving Robot using ROS2, the second and last version of Robot Operating System by building a real robot?
Would you like to get started with Autonomous Navigation of Robot and dive into the theoretical and practical aspects of Localization, Mapping and SLAM from industry experts?
The philosophy of this course is the Learn by Doing and quoting the American writer and teacher Dale Carnegie
Learning is an Active Process. We learn by doing, only knowledge that is used sticks in your mind.
In order for you to master the concepts covered in this course and use them in your projects and also in your future job, I will guide you through the learning of all the functionalities of ROS both from the theoretical and practical point of view.
Each section is composed of three parts:
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Theoretical explanation of the concept and functionality
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Usage of the concept in a simple Practical example
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Application of the functionality in a real Robot
There is more!
All the programming lessons are developed both using Python and C++ . This means that you can choose the language you are most familiar with or become an expert Robotics Software Developer in both programming languages!
By taking this course, you will gain a deeper understanding of self-driving robots and ROS 2, which will open up opportunities for you in the exciting field of robotics.
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7
Install Ubuntu on Virtual Machine -
8
Install Ubuntu on Dual Boot
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9
<LAB>Install ROS 2</LAB> -
10
<LAB>Configure the Development Environment</LAB>
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11
<HWLAB>Configure the Development Environment</HWLAB>
File /etc/udev/rules.d/81-event.rules
SUBSYSTEM=="input", KERNEL=="event*", GROUP="raspberry", MODE="0660"
File /etc/udev/rules.d/99-arduino.rules
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2341", GROUP="plugdev", MODE="0666"
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12
<HWLAB>Install ROS 2 on Raspberry Pi</HWLAB>
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13
<LAB>Getting Started with the Simulated Robot</LAB>
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14
Why a Robot Operating System?
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15
What is ROS 2
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16
Why a NEW Robot Operating System
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17
ROS 2 Architecture
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18
Hardware Abstraction
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19
Low-Level Device Control
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20
Messaging Between Process
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21
Package Management
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22
Architecture of a ROS 2 Application
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23
Introduction to ROS 2 -
24
<LAB>Create and Activate a Worksapce</LAB>
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25
<PY>Simple Publisher</PY>
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26
<C++>Simple Publisher</C++>
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27
<PY>Simple Subscriber</PY>
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28
<C++>Simple Subscriber</C++>
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29
Workspaces, Publishers, Subscribers
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38
Where am I ?
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39
Robot Localization
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40
Robotics Convention for Localization
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41
Why a Robotics Convention for Localization?
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42
Gazebo Worlds and Models
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43
<LAB>Give an house to the Robot</LAB>
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44
Local and Global Localization
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45
Local Localization
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46
Global Localization
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47
Wheel Odometry Errors
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48
Laser Odometry Errors
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49
The Real Purpose of Global Localization
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50
Error Propagation
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51
Odometry Motion Model
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52
<PY>Odometry Motion Model</PY>
def angle_diff(a, b):
a = atan2(sin(a), cos(a))
b = atan2(sin(b), cos(b))
d1 = a - b
d2 = 2 * pi - fabs(d1)
if d1 > 0:
d2 *= -1.0
if fabs(d1) < fabs(d2):
return d1
else:
return d2
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53
<PY>Odometry Motion Model with Noise</PY>
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54
<C++>Odometry Motion Model</C++>
double angle_diff(double a, double b)
{
a = normalize(a);
b = normalize(b);
double d1 = a - b;
double d2 = 2 * M_PI - fabs(d1);
if (d1 > 0) {
d2 *= -1.0;
}
if (fabs(d1) < fabs(d2)) {
return d1;
} else {
return d2;
}
}
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55
<C++>Odometry Motion Model with Noise</C++>
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56
<LAB>Odometry Motion Model</LAB>
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57
What is a Map
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58
How Robots Perceive the World
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59
Sensors for Self-Driving Robots
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60
1D Sensors - Sonar
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61
2D Sensors - LiDAR
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62
<LAB>Add a 2D LiDAR to the Robot</LAB>
Laser Link Inertial Matrix
<inertial><origin xyz="-0.011945780406062 -0.000381929217680526 -0.0170649378129477" rpy="0 0 0" />
<mass value="0.073084435549317" />
<inertia ixx="1.96074931730795E-05" ixy="-3.62091076640009E-07" ixz="4.28230084046735E-07" iyy="2.40983835136327E-05" iyz="1.50180909250652E-08" izz="4.14184164228595E-05" />
</inertial>
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63
<LAB>Simulate a 2D LiDAR</LAB>
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64
3D Sensors - RGBD Cameras and 3D LiDAR
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65
Speed and Separation Monitoring
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66
twist_mux
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67
<LAB>Preparation for twist_mux</LAB>
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68
<LAB>Configure twist_mux</LAB>
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69
<LAB>Use twist_mux</LAB>
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70
<PY>Safety Stop</PY>
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71
<C++>Safety Stop</C++>
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72
<LAB>Safety Stop</LAB>
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73
ROS 2 Actions
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74
<PY>Create an Action Server</PY>
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75
<C++>Create an Action Server</C++>
add_library(simple_action_server SHARED src/simple_action_server.cpp)
target_include_directories(simple_action_server PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_definitions(simple_action_server
PRIVATE "SIMPLE_ACTION_SERVER_CPP_BUILDING_DLL")
ament_target_dependencies(simple_action_server
"bumperbot_msgs"
"rclcpp"
"rclcpp_action"
"rclcpp_components")
rclcpp_components_register_node(simple_action_server
PLUGIN "bumperbot_cpp_examples::SimpleActionServer"
EXECUTABLE simple_action_server_node
)
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76
<LAB>Create an Action Server</LAB>
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77
<PY>Create an Action Client</PY>
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78
<C++>Create an Action Client</C++>
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79
<LAB>Create an Action Client</LAB>
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80
<PY>Speed and Separation Monitoring</PY>
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81
<C++>Speed and Separation Monitoring</C++>
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82
<LAB>Speed and Separation Monitoring</LAB>
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83
<PY>Display Markers in RViz</PY>
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84
<C++>Display Markers in RViz</C++>
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85
<LAB>Display Markers in RViz</LAB>
