Self Driving and ROS 2 – Learn by Doing! Odometry & Control

سرفصل های دوره

Create a ROS2 based Self-Driving robot and learn about Robot Localization and Sensor Fusion using Kalman Filters

1. Introduction

1. Course Motivation

2. The Self-Driving Program

3. Course Presentation

4. Meet your Teacher

5. [EXTRA] Boost your Robotics Software Developer Career.html

6. Get the Most out of the Course

7. Course Material.html

2. Setup

1. Install Ubuntu on Virtual Machine.html

2. Install Ubuntu on Dual Boot.html

3. Install ROS 2

4. Configure the Development Environment

3. Introduction to ROS 2

1. Why a Robot Operating System

2. What is ROS 2

3. Why a NEW Robot Operating System

4. ROS 2 Architecture

5. Hardware Abstraction

6. Low-Level Device Control

7. Messaging Between Process

8. Package Management

9. Architecture of a ROS 2 Application

10. LABCreate and Activate a WorkspaceLAB

11. PYSimple PublisherPY

12. C++Simple PublisherC++

13. PYSimple SubscriberPY

14. C++Simple SubscriberC++

4. Locomotion

1. Robot Locomotions

2. Mobile Robots

3. Friction Effects

4. Robot Description

5. URDF

6.1 STL Gazebo.zip

6. LABCreate the URDF ModelLAB

7. Rviz 2

8. Parameters

9. PYParametersPY

10. C++ParametersC++

11. LABROS 2 Parameter CLILAB

12. LABVisualize the RobotLAB

13. Launch Files

14. LABVisualize the Robot with Launch FilesLAB

15. Gazebo

16.1 bumperbot.urdf.zip

16.2 Solidworks URDF Exporter.html

16.3 Solidworks URDF Exporter Tutorial.html

16. LABSimulate the RobotLAB

17. LABLaunch the SimulationLAB

5. Control

1. ROS 2 Control

2. Control Types

3. LABros2 control with GazeboLAB

4. YAML Configuration File

5. LABConfigure ros2 controlLAB

6. LABLaunch the ControllerLAB

7. LABros2 control CLILAB

6. Kinematics

1. Robot Kinematics

2. Pose of a Mobile Robot

3. Translation Vector

4. LABIntroduction to TurtlesimLAB

5. PYTranslation VectorPY

6. C++Translation VectorC++

7. Rotation Matrix

8. PYRotation MatrixPY

9. C++Rotation MatrixC++

10. Transformation Matrix

7. Differential Kinematics

1. Differential Kinematics

2. Velocity of a Mobile Robot

3. Linear Velocity

4. Angular Velocity

5. Velocity in World Frame

6. Differential Forward Kinematics

7. Simple Speed Controller

8. PYSimple Speed ControllerPY

9. C++Simple Speed ControllerC++

10. LABLaunch the Simple ControllerLAB

11. LABTeleoperating with JoystickLAB

12. LABUsing the diff drive controllerLAB

8. TF2 Library

1. The TF2 Library

2. Operations with Transformations

3. Static and Dynamic Transformations

4. PYSimple TF2 Static BroadcasterPY

5. C++Simple TF2 Static BroadcasterC++

6. PYSimple TF2 BroadcasterPY

7. C++Simple TF2 BroadcasterC++

8. ROS 2 Services

9. PYService ServerPY

10. C++Service ServerC++

11. PYService ClientPY

12. C++Service ClientC++

13. PYSimple TF2 ListenerPY

14. C++Simple TF2 ListenerC++

15. Angle Rapresentations

16. Euler Angles

17. Quaternion

18. PYEuler to QuaternionPY

19. C++Euler to QuaternionC++

20. LABTF2 ToolsLAB

9. Odometry

1. Where is the Robot

2. The Local Localization Challenge

3. Wheel Odometry

4. Differential Inverse Kinematics

5. PYDifferential Inverse KinematicPY

6. C++Differential Inverse KinematicC++

7. Wheel Odometry - Position

8. Wheel Odometry - Orientation

9. PYWheel OdometryPY

10. C++Wheel OdometryC++

11. PYPublish Odometry MessagePY

12. C++Publish Odometry MessageC++

13. PYBroadcast Odometry TransformPY

14. C++Broadcast Odometry TransformC++

10. Probability for Robotics

1. Motivation

2. Random Variables

3. Conditional Probability

4. Probability Distributions

5. Gaussian Distributions

6. Total Probability Theorem

7. Bayes Rule

8. Sensor Noise

9. PYAdding Noise to Robot MotionPY

10. C++Adding Noise to Robot MotionC++

11. LABLaunch Noisy ControllerLAB

12. LABOdometry ComparisonLAB

11. Sensor Fusion

1. Advantages of having Multiple Sensors

2. Gyroscope

3. Accelerometer and IMU

4.1 bumperbot.urdf.zip

4. LABSimulate IMU SensorIMU

5. Kalman Filter

6. PYFilter InitializationPY

7. C++Filter InitializationC++

8. Measurement Update

9. PYMeasurement UpdatePY

10. C++Measurement UpdateC++

11. State Prediction

12. PYState PredictionPY

13. C++State PredictionC++

14. LABLocalization with Kalman FilterLAB

15. Extended Kalman Filter (EKF)

16. PYIMU RepublisherPY

17. C++IMU RepublisherC++

18.1 ekf.zip

18. LABSensor Fusion with robot localizationLAB

12. Conclusions

1. Recap

2. Whats Next

3. BONUS Lecture.html

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تولید کننده: Udemy