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 much of the rest of the material still uses ROS1. The old ROS1 material can be found by selecting a different version using the tab at the bottom left of the page.

Getting Started

Setup

• PC Setup

• IDE Setup

Prerequisites

C++

• MIT Introduction to C++

• Bruce Eckel Thinking in C++ Vol. 1

• Bruce Eckel Thinking in C++ Vol. 2

Linux Fundamentals

Slides

• 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

Session 2 - Basic ROS Applications (ROS2)

Slides

• 2.0 - Services

• 2.1 - Launch Files

• 2.2 - Parameters

Session 3 - Motion Control of Manipulators

Slides

• 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 - Motion Planning and Perception

Slides

• 4.0 - Motion Planning using C++

• 4.1 - Intro to Perception

Application Demos

• Demo 1 - Perception-Driven Manipulation

Advanced Topics

Session 5 - Perception Pipeline

Slides

• 5.0 - Building a Perception Pipeline

• 5.1 - Simple PCL Interface for Python

• 5.2 - OpenCV Image Processing (Python)

Session 6 - ROS Tools

• 6.0 - Documentation Generation

• 6.1 - Using rqt tools for Analysis

Session 7 - ROS2 Topics

• 7.0 - ROS2 basics

• 7.1 - ROS1 to ROS2 porting

Session 8 - Motion Planning

Slides

• 8.0 - Motion Planning with Tesseract

Session 9 - Cameras and Calibration

Slides

• 9.0 - Cameras and Calibration

Archives

• A.0 - Actions

• A.1 - Intro to Descartes

• A.2 - Advanced Descartes Path Planning

• A.3 - Introduction to STOMP

• A.4 - Unit Testing

• A.5 - ROS Style Guide and ros_lint

• A.6 - Introduction to ROS with Docker and Amazon Web Services (AWS)

• A.7 - Using the ROS1-ROS2 bridge

• Demo 2 - Descartes Planning and Execution

• Demo 3 - Optimization Based Path Planning