Robotics and ROS 2 - Learn by Doing! Manipulators

Description

In this course, you will learn :

• Create a Real Robot, powered by ROS 2
• Mastering ROS2, the last version of 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 2
• Use the ros2_control library
• Master Rviz2

Syllabus :

1. Introduction to ROS 2

• Why a Robot Operating System?
• What is ROS 2
• Why a NEW Robot Operating System?
• ROS 2 Architecture
• Hardware Abstraction
• Low-Level Device Control
• Messaging Between Process
• Package Management
• Architecture of a ROS 2 Application
• <LAB>Create and Activate a Workspace</LAB>
• <PY>Simple Publisher</PY>
• <C++>Simple Publisher</C++>
• <PY>Simple Subscriber</PY>
• <C++>Simple Subscriber</C++>

2. Digital Twin

• Robot Description
• URDF
• <LAB>Create the URDF Model</LAB>
• <LAB>Complete the URDF Model</LAB>
• RViz 2
• Parameters
• <PY>Parameters</PY>
• <C++>Parameters</C++>
• <LAB>ROS 2 Parameter CLI</LAB>
• <LAB>Visualize the Robot</LAB>
• Launch Files
• <LAB>Visualize the Robot with Launch Files</LAB>
• Gazebo
• <LAB>Simulate the Robot</LAB>
• <LAB>Launch the Simulation</LAB>

3. Control

• ROS 2 Control
• Control Types
• <LAB>ros2_control with Gazebo</LAB>
• YAML Configuration File
• <LAB>Configure ros2_control</LAB>
• <LAB>Launch the Controller</LAB>
• <LAB>ros2_control CLI</LAB>

4. Kinematics

• Robot Kinematics
• Pose of a Robot Arm
• Translation Vector
• Elementary Rotations
• Rotation Matrix
• Transformation Matrix
• Forward Kinematics
• TF2 Library
• <LAB>TF2 Tools</LAB>
• ROS 2 Services
• <PY>Service Server</PY>
• <C++>Service Server</C++
• Static and Dynamic Transformations
• <PY>Service Client</PY>
• <C++>Service Client</C++>
• Angle Representations
• Euler Angles
• Quaternion
• <PY>Euler to Quaternion Service</PY>
• <C++>Euler to Quaternion Service</C++>
• Inverse Kinematics
• MoveIt! 2
• <LAB>Configure MoveIt! 2</LAB>
• <LAB>Launch MoveIt! 2</LAB>

5. Application

• Application Layer
• ROS 2 Actions
• <PY>Create an Action Server</PY>
• <C++>Create an Action Server</C++>
• <PY>Create an Action Client</PY>
• <C++>Create an Action Client</C++>
• MoveIt! 2 API
• <C++>MoveIt! 2 API</C++>
• Task Server
• <C++>Task Server</C++>

6. Alexa Integration

• Alexa Skill
• <LAB>Develop Alexa Skills</LAB>
• <LAB>Integrate Alexa Skills<LAB>
• <LAB>Interface the Robot with Alexa</LAB>
• <LAB>Voice Interaction Model</LAB>
• <LAB>Launch the Simulation of the Robot</LAB>

7. Build the Robot

• Mechanics and Electronics
• Arduino and ROS 2
• <HWLAB>Publisher Node with Arduino</HWLAB>
• <PY>Publisher Node with Arduino</PY>
• <C++>Publisher Node with Arduino</C++>
• <HWLAB>Test Publisher Node with Arduino</HWLAB>
• <HWLAB>Subscriber Node with Arduino</HWLAB>
• <PY>Subscriber Node with Arduino</PY>
• <C++>Subscriber Node with Arduino</C++>
• <HWLAB>Test Subscriber Node with Arduino</HWLAB>
• <HWLAB>Servomotors with Arduino</HWLAB>
• ROS 2 Lifecycle Nodes
• <C++>Create a Lifecycle Node</C++>
• <LAB>ROS 2 Lifecycle CLI</LAB>
• <C++>ros2_control Interface - Declaration</C++>
• <C++>ros2_control Interface - Definition</C++>
• <C++>ros2_control Interface - Plugin</C++>
• <LAB>ros2_control Interface - Configure</LAB>
• <HWLAB>Robot Control with Arduino</HWLAB>
• <HWLAB>Launch the Complete Robot</HWLAB>

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