Notes on ROS

This repo contains my notes, assignments and learning material to get started with ROS.

ROS 1 cheat sheet

06/09/22: Added pre-commit hooks to improve code quality. Reformatting is currently WIP. Until the needed reformatting is complete it is possible to commit skipping linting checks with: $ SKIP=flake8,pylint git commit ...(08/09/22) some checks of variable names and use of globals are temporarily disabled with .pylintrc:

• C0103, uppercase naming style for constants
• W0602, global-variable-not-assigned
• W0603, global-statement
• W0604, global-at-module-level

ROS for Beginners I: Basics, Motion, and OpenCV

ROS for Beginners: Basics, Motion, and OpenCV

Udemy ROS for Beginners course by Anis Koubaa

(Purchased on Udemy on 15.07.21 with username spam)

Part 1: ROS basics (Lessons #001-#081)

• Assignment 1
• Assignment 2
• Assignment 3
• Assignment 4

Part 2: Motion with ROS (Lessons #082-#113)

• Assignment 5

Part 3: Perception: Computer vision with OpenCV and laser scanners (L#114-#139)

• Assignment 6
• Assignment 7: bouncy and marauder obstacle avoidance with Turtlebot3

Part 4: Arduino bots and sensors with ROS (Lessons #140-#150)

TO DO on ROS for Beginners I as of 23.08.22

• Lessons #27 and #28 on virtual machines
• Lesson #108 on ROS network config
• Order code in Arduino folder
• order code in catkin_ws/src folder

ROS for Beginners II: Localization, Navigation and SLAM

ROS for Beginners II: Localization, Navigation and SLAM

Udemy ROS for Beginners course by Anis Koubaa

(Purchased on Udemy on 15.07.21 with username spam)

Part 5: Introduction (Lessons #001 to #035 and Assignment 1 Quiz)

Part 6: TF (Lessons #036 to #051 + MiniPupper example)

Part 7: maps (Lessons #052 to #062)

Part 8: navigation parameter tuning (Lessons #063 to #070)

Part 9: reactive navigation (Lessons #071 to #076 and Assignment 2: BUG 0)

ETH Zurich Programming for Robotics (ROS) Course

2021 Programming for Robotics (ROS) Course homepage: ETH Zurich Course 4 lessons + case studies. Videos + course material (lessons, exercises etc) available to download. I originally discovered this course through this Youtube playlist from 2017: 2017 Programming for Robotics (ROS) Course Youtube playlist.

Lesson #1

Lesson #2

Lesson #3

Articulated Robotics

Articulated Robotics is a phenomenal series of blog and video tutorials by Josh Newans including a step by step guide to building your own ROS2-based mobile robot with camera and LIDAR. My notes on Articulated Robotics have moved to the manolobot repository where I keep my own project inspired in these tutorials.

Other ROS resources to check:

• ROS robotics learning website , youtube video of DIY Jetson nano+ RPLidar robot and github repo
• JdeRobot robotics education website and Robotics-Academy exercises
• Exploring ROS using a 2-wheeled robot series of 13 videos 10-30' long each by The Construct covering URDF modelling, laser scans, obstacle avoidance, motion planning, wall follower, Bug0, 1 & 2, gmapping.