CORE2
How to start
1. Run your first program
1.1. Preparing hardware 1.2. Connecting to the Cloud
Connecting using mobile device and browser Connecting using only browser Connecting via the command line
1.3. Writing your first program 1.4. Share your device with friends
2. Video streaming from a camera
2.1. Setting up the hardware
CORE2 + smartphone/tablet CORE2-ROS + USB camera
2.2. Displaying the stream in the robot UI
3. Getting started with Husarion + LEGO Mindstorms
3.1. Building and Connections
WallBOT ShadowBOT
3.2. Code
WallBOT ShadowBOT
3.3. Useful links
4. Telepresence robot kit - quick start
4.1. Unboxing 4.2. Assembly 4.3. Cables 4.4. Connecting to the cloud 4.5. Programming
5. Using third-party modules
5.1. Sharp distance sensor 5.2. MPU-9250 inertial mesurement unit
6. ROSbot - quick start
6.1. Unboxing 6.2. Assembly 6.3. Connecting to the cloud 6.4. Programming 6.5. Usage
ROS Tutorials
1. ROS introduction
1.1. System structure
Nodes Topics Services
1.2. Basic tools
rosnode rostopic rqt_graph
1.3. Robot platform 1.4. ROS and CORE2 Work flow
Starting system step by step Starting system step by step - Example Starting system with roslaunch Starting system with roslaunch - Example
1.5. Summary
2. Creating nodes
2.1. Workspace setup 2.2. Creating new package
Write code for your first node Building your node Running your node Subscribing to topic Receiving parameters Publishing to topic Calling the service Providing a service
2.3. Message types 2.4. Summary
3. Simple kinematics for mobile robot
3.1. A little bit of theory
Introduction Forward Kinematics task
3.2. Controlling the motor
Publishing the motion command for robot Converting motion command to motor drive signal Running motor controller Determining robot position Running motor controller with forward kinematics task Data visualization with PlotJuggler
3.3. Robot visualization with Rviz 3.4. Summary
4. Visual object recognition
4.1. Introduction 4.2. Teaching objects 4.3. Recognizing objects 4.4. Making decision with recognized object 4.5. Getting position of recognized object 4.6. Following the object 4.7. Summary
5. Running ROS on multiple machines
5.1. Introduction 5.2. Network setup 5.3. Performing a task with multiple machines
mission_controller node search_controller node Building the nodes Running the nodes on ROSbots Running the nodes in Gazebo
5.4. Connecting through Husarnet
Connetion setup Running the nodes with Husarnet
5.5. Summary
6. SLAM navigation
6.1. Introduction 6.2. Coordinate frames tracking
Publishing transformation Publisher for static transformations Visualizing transformation with rviz
6.3. SLAM implementation in ROS
Running the laser scanner Navigation and map building
6.4. Summary
7. Path planning
7.1. Introduction
Graph methods Occupancy grid methods
7.2. Occupancy grid path planning in ROS
Requirements regarding robot
7.3. Configuration of move_base node
Common parameters for cost map Parameters for local cost map Parameters for global cost map Parameters for trajectory planner Launching path planning node Setting goal for trajectory planner
7.4. Summary
8. Unknown environment exploration
8.1. Introduction 8.2. Environment exploration in ROS
Requirements regarding robot Configuration of explore_server node Launching exploration task Setting the exploration area
8.3. Summary
9. Object search
9.1. Introduction 9.2. Object search in ROS
Requirements regarding robot System architecture Configuration of explore_server and move_base nodes Configuration of find_object_2d node Configuration of depthimage_to_laserscan node Configuration of video streaming to external computer Key methods in search_manager node search_manager node complete code Building the node Launching search task
9.3. Summary
Other tutorials
1. hFramework library development
1.1. Preparation 1.2. Cloning hFramework repository 1.3. hFramework sourcecode compilation 1.4. Using the library compiled by yourself
2. Offline development tools
2.1. Offline development tools for Windows
Current functionality Installation guide Using the VSCode + extension Useful extensions Changing hardware platform Debugging
2.2. Offline development tools for Linux
Current functionality Installation guide Using the VSCode + extension Changing hardware platform Installing ST-LINK Debugging
2.3. Offline development tools for Mac
Current functionality Installation guide Using the VSCode + extension Debugging
3. How to use CORE2-ROS local serial offline
3.1. Default communication 3.2. Offline communication

How to start

The tutorial that will help you to run your first program on CORE2 connected to Husarion Cloud and how to work with offline tools.

ROS Tutorials

"The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms." - according to the official ROS webpage.

We prepared a set of tutorials to help you start building advanced robots. They are prepared to work with Husarion CORE2-ROS controller but they are also a valuable portion of knowledge for anybody interested in ROS.