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Programming for Robotics Course – ROS

About the course:
This course gives an introduction to the Robot Operating System (ROS) including many of the available tools that are commonly used in robotics. With the help of different examples, the course should provide a good starting point for students to work with robots. They learn how to create software including simulation, to interface sensors and actuators, and to integrate control algorithms.

– ROS architecture: Master, nodes, topics, messages, services, parameters and actions
– Console commands: Navigating and analyzing the ROS system and the catkin workspace
– Creating ROS packages: Structure, launch-files, and best practices
– ROS C++ client library (roscpp): Creating your own ROS C++ programs
– Simulating with ROS: Gazebo simulator, robot models (URDF) and simulation environments (SDF)
– Working with visualizations (RViz) and user interface tools (rqt)
– Inside ROS: TF transformation system, time, bags

Course Materials, files


Course 1 covers following topics:
– ROS architecture & philosophy
– ROS master, nodes, and topics
– Console commands
– Catkin workspace and build system
– Launch-files
– Gazebo simulator


Course 2 covers following topics:
– ROS package structure
– Integration and programming with Eclipse
– ROS C++ client library (roscpp)
– ROS subscribers and publishers
– ROS parameter server
– RViz visualization


Course 3 covers following topics:
– TF Transformation System
– rqt User Interface
– Robot models (URDF)
– Simulation descriptions (SDF)


Course 4 covers following topics:
– ROS services
– ROS actions (actionlib)
– ROS time
– ROS bags
– Debugging strategies




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