ROS Industrial (Kinetic) Training Exercises

Setup PC

• PC Setup

Prerequisites

C++

• MIT Introduction to C++
• Bruce Eckel Thinking in C++

Linux Fundamentals

Slides

• Exercise 0.1 - Intro to Ubuntu GUI
• Exercise 0.2 - The Linux File System
• Starting the Terminal
• Navigating Directories and Listing Files
• Altering Files
• Job management

Basic Topics

Session 1 - ROS Concepts and Fundamentals

Slides

• Exercise 1.0 - ROS Setup
• Exercise 1.1 - Create a Workspace
• Exercise 1.2 - Installing Packages
• Exercise 1.3 - Packages and Nodes
• Exercise 1.4 - Topics and Messages

Session 2 - Basic ROS Applications

Slides

• Exercise 2.0 - Services
• Exercise 2.1 - Actions
• Exercise 2.2 - Launch Files
• Exercise 2.3 - Parameters

Session 3 - Motion Control of Manipulators

Slides

• Exercise 3.0 - Intro to URDF
• Exercise 3.1 - Workcell XACRO
• Exercise 3.2 - Transforms using TF
• Exercise 3.3 - Build a MoveIt! Package
• Exercise 3.4 - Motion Planning using RViz

Session 4 - Descartes and Perception

Slides

• Exercise 4.0 - Motion Planning using C++
• Exercise 4.1 - Intro to Descartes
• Exercise 4.2 - Intro to Perception

Application Demo 1 - Perception-Driven Manipulation

• Demo 1 - Perception-Driven Manipulation

Application Demo 2 - Descartes Planning and Execution

• Demo 2 - Descartes Planning and Execution

Application Demo 3 - Optimization Based Path Planning

• Demo 3 - Optimization Based Path Planning

Advanced Topics

Session 5 - Path Planning and Building a Perception Pipeline

Slides

• Exercise 5.0 - Advanced Descartes Path Planning
• Exercise 5.1 - Building a Perception Pipeline
• Exercise 5.2 - Introduction to STOMP
• Exercise 5.3 - Simple PCL Interface for Python
• Exercise 5.4 - OpenCV Image Processing (Python)

Session 6 - Documentation, Unit Tests, ROS Utilities and Debugging ROS

• Exercise 6.0 - Documentation Generation
• Exercise 6.1 - Unit Testing
• Exercise 6.2 - Using rqt tools for Analysis
• Exercise 6.3 - ROS Style Guide and ros_lint
• Exercise 6.4 - Introduction to ROS with Docker and Amazon Web Services (AWS)