ROS Industrial Training

Welcome to the ROS-Industrial training page!

The content on this site is divided into several sessions, each of which is focused on building skills in a particular area. The main sessions first introduce you to ROS itself before moving on to ideas specific to ROS-Industrial. Afterwards, deeper exploration is encouraged with some full scale application demos, which provide a good sense of what a real ROS application entails. Finally, some advanced modules are provided which focus on specific ROS tools or capabilities.

We are currently in the process of updating much of our training content from ROS1 to ROS2. Currently, the ROS basics sessions are written to teach ROS2 while the rest of the material still uses ROS1. The old ROS1 basic material can still be found under the Legacy Material page.

Getting Started

Setup

• PC Setup

Prerequisites

C++

• MIT Introduction to C++
• Bruce Eckel Thinking in C++ Vol. 1
• Bruce Eckel Thinking in C++ Vol. 2

Linux Fundamentals

• 0.1 - Intro to Ubuntu GUI
• 0.2 - The Linux File System
• 0.3 - Using the Terminal

Session 1 - ROS Concepts and Fundamentals (ROS2)

Slides

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

For equivalent ROS1 content, see the Legacy Material page.

Session 2 - Basic ROS Applications (ROS2)

Slides

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

For equivalent ROS1 content, see the Legacy Material page.

Session 3 - Motion Control of Manipulators

Slides

Note: Due to evolving status of motion planning in ROS2, these exercises are currently a mixture of ROS1 and ROS2 material. Some of the exercises refer to the outputs of the ROS1 versions of sessions 1 & 2. Please see the legacy material page if you need to refer to them.

• 3.0a - Intro to ROS1
• 3.0 - Intro to URDF
• 3.1 - Workcell XACRO
• 3.2 - Transforms using TF
• 3.3 - Build a MoveIt Package
• 3.4 - Motion Planning using RViz

Session 4 - Descartes and Perception

Slides

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

Application Demos

• Demo 1 - Perception-Driven Manipulation
• Demo 2 - Descartes Planning and Execution
• Demo 3 - Optimization Based Path Planning

Advanced Topics

Session 5 - Path Planning and Perception

Slides

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

Session 6 - ROS Tools

Slides

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

Session 7 - ROS2 Topics

• 7.0 - ROS2 basics
• 7.1 - ROS1 to ROS2 porting
• 7.2 - Using the ROS1-ROS2 bridge

Session 8 - Motion Planning

Slides

• 8.0 - Motion Planning with Tesseract