Mô tả

Would you like to learn ROS, the Robot Operating System by building a real robot?


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 or, why not, 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:

  • Theoretical explanation of the concept and functionality

  • Usage of the concept in a simple Practical example

  • Application of the functionality in a real Robot


I almost forgot! We need one more, essential and exciting part of this course for your active learning!

  • Experiment, Develop and Test your ideas in the Robot (real or simulated in your PC)


In each Section of the course, I'll introduce you a new concept and then we will use it to add new functionalities to the robot:

  1. Introduction to the Course

  2. Setup the Environment: Install Ubuntu and ROS Noetic

  3. Introduction to ROS: What is ROS and why is so important in Robotics.

    Create the first ROS node

    1. ROS Publisher/Subscriber

  4. Digital Twin: Use a simulator to develop and test the functionalities of the robot without the need of any hardware device

    1. URDF

    2. Gazebo

    3. ROS Parameter Server

    4. RViz

    5. ROS Launch Files

  5. Control: How to create a Control System for Robot actuators

    1. ROS Timer

    2. ROS Services

    3. ros_control

  6. Kinematics: Use the package MoveIt! for the Trajectory Planning

    1. TF

    2. MoveIt!

  7. Application: Interface and make available all the functionalities of the robot to other software to create more complex applications and functionalities

    1. ROS Actions

  8. Alexa: Use the Alexa Voice Assistant to actuate the robot with the voice

  9. Build the Robot: Build the real robot and migrate all the functionalities from a simulated robot to a real one

    1. rosserial_arduino

  10. Conclusion and Summary of the course


To facilitate your learning and help you join the robotic world, the code lessons are available both in C++ and in Python and you can decide which language to use during the course.

Anyway, I would suggest you to follow both in order to complete your Robotics Software Developer profile!

Bạn sẽ học được gì

Create a real robot

Mastering ROS, the Robot Operating System

Robotics Theory

Use Alexa to actuate the Robot

Programming Arduino for Robotics Applications

Create a Digital Twin

Simulate the robot in Gazebo

Robot Kinematics

Trajectory Planning with MoveIt!

Yêu cầu

  • Basic knowledge of Python or C++
  • Basic knowledge of Linux
  • No prior knowledge of ROS required
  • No prior knowledge of Robotics theory required
  • No hardware required. All the course can be followed also using only the PC

Nội dung khoá học

10 sections

Introduction to the Course

7 lectures
Course Presentation
03:01
Meet your Teacher
01:04
[BONUS]: Boost your Robotics Software Developer Career
00:56
Get the most out of the Course
02:00
Course Material
01:45
Course Structure
04:08
Why an Operating System for the Robots
04:56

Setup the Environment

5 lectures
Install Ubuntu on Virtual Machine
02:16
Install Ubuntu on Dual Boot
03:32
Install ROS
03:53
Install Modules and Dependencies
11:51
<OPTIONAL>Using Docker</OPTIONAL>
04:48

Introduction to ROS

11 lectures
What is ROS
04:42
Hardware Abstraction
02:31
Low-Level Device Control
01:22
Messaging between Process
06:44
Package Management
01:24
Architecture of a ROS Application
01:30
<LAB>Create the first ROS Project</LAB>
09:31
<PY>Create a Publisher Node</PY>
17:23
<C++>Create a Publisher Node</C++>
17:02
<PY>Create a Subscriber Node</PY>
11:49
<C++>Create a Subscriber Node</C++>
14:15

Digital Twin

13 lectures
What is a Digital Twin
05:19
RViz
05:30
URDF
04:35
<LAB>Create the Digital Twin</LAB>
27:42
<LAB>Complete the Digital Twin</LAB>
17:59
ROS Parameter Server
04:43
<LAB>ROS Parameter Server</LAB>
06:02
<LAB>View the Robot in RViz</LAB>
09:42
Gazebo
05:15
<LAB>URDF for the Simulation</LAB>
24:56
ROS Launch File
03:52
<LAB>Launch the Visualization</LAB>
07:58
<LAB>Launch the Simulation</LAB>
16:20

Control

18 lectures
ROS Control
09:57
YAML Configuration File
04:50
<LAB>Load the Configuration file Parameter Server</LAB>
08:26
ROS Timer
05:34
<PY>Create a ROS Timer</PY>
07:01
<C++>Create a ROS Timer</C++>
07:19
ROS Services
07:21
<PY>Create a Service Server</PY>
18:10
<C++>Create a Service Server</C++>
19:22
<PY>Create a Service Client</PY>
13:18
<C++>Create a Service Client</C++>
14:21
Angles Converter Service
06:19
<PY>Angles Converter Service Server</PY>
15:11
<C++>Angles Converter Service Server</C++>
14:59
<LAB>Create the Controller</LAB>
17:24
<LAB>Complete the Controller</LAB>
36:33
<LAB>Configure the Controller</LAB>
06:37
<LAB>Launch the Controller</LAB>
17:56

Kinematics

13 lectures
Robot Kinematics
05:18
2D Frames - Translation
05:59
2D Frames - Rotation
03:58
2D Frames - RotoTranslation
02:56
3D Frames - Translation
03:34
3D Frames - Rotation
06:22
3D Frames - RotoTranslation
02:36
Forward Kinematics
07:16
<LAB>The TF Package</LAB>
10:33
Inverse Kinematics
05:35
MoveIt!
03:16
<LAB>MoveIt! Setup</LAB>
10:35
<LAB>Configure MoveIt!</LAB>
09:58

Applications

9 lectures
Robot Applications
03:34
ROS Actions
08:03
Actionlib Interface
02:28
<PY>Create an Action Server</PY>
28:38
<C++>Create an Action Server</C++>
30:23
<PY>Create an Action Client</PY>
12:05
<C++>Create an Action Client</C++>
13:43
<PY>Application Action Server</PY>
32:49
<C++>Application Action Server</C++>
33:13

Alexa Integration

6 lectures
Alexa Skill
04:00
Develop Alexa Skills
12:06
<LAB>Test Alexa Skills</LAB>
04:36
<LAB>Interface the Robot with Alexa</LAB>
12:00
<LAB>Voice Interaction Model</LAB>
16:44
<LAB>Complete Simulation of the Robot</LAB>
12:11

Buid the Robot

7 lectures
Mechanics and Electronics
02:56
Arduino and ROS
02:04
<HWLAB>Create a Publisher Node with Arduino</HWLAB>
09:55
<HWLAB>Create a Subscriber Node with Arduino</HWLAB>
06:53
<HWLAB>Servomotors with Arduino</HWLAB>
12:24
<HWLAB>Robot Control with Arduino</HWLAB>
14:04
<HWLAB>Launch the Complete Robot</HWLAB>
11:14

Conclusions

3 lectures
Summary
03:31
What's next?
01:00
[BONUS]: Continue Learning
00:56

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