1. ROS Introduction
Basic concepts and tools necessary to work with ROS applications 2. Configure the environment, launch nodes, and learn how to check and analyze running nodes and submitted topics.
2. Creating Nodes - Messages
Learn how to set up a workspace, create a publisher to calculate image brightness, and a subscriber to process camera images. Discover key ROS 2 packages.
3. Creating Nodes - Services
Discover another fundamental aspect of ROS - services. Learn the process of creating and utilizing ROS services. Additionally, grasp the functioning of timers and how to effectively parameterize your code.
4. Kinematics and Visualization
Introduce of the kinematics of mobile robot movement, as well as data visualization using tools such as PlotJuggler and RViz2.
5. Visual Object Recognition
Learn how to perform visual object recognition using a camera and ROSbot. The tutorial covers setting up the vision system, teaching the robot to recognize objects, and tracking the recognized objects.
6. Robot Network
Configuring ROS to run on multiple computers. Scenarios will be presented in which robots are located in a LAN or connected to the Internet using Husarnet VPN.
Explaining transformations and their importance in robotics algorithms. Showing how to add static and dynamic transformations and how to listen to them and visualize the transformations using the RViz tool for further analysis.
Provides a tutorial on Simultaneous Localization and Mapping (SLAM) using the gmapping package and the RPLiDAR sensor. The tutorial covers map creation, localization using the amcl package, and demonstrates SLAM functionality in both real and simulated environments.
Covers the basics of navigation using the move_base package using ROSbot. The chapter introduces and explains the principle of operation of navigation algorithms, including concepts such as: cost maps, global path planning and control using the Regulated Pure Pursuit algorithm. Also includes tips on configuring move_base.