Applied Robotics with ROS
Course Overview
This lecture series was developed as an introduction for robotic enthusiasts to understanding the underlying theories employed in industrial robotics and the Robot Operating System (ROS). Concepts will be applied and tested through guided examples within ROS. This series is focused on system level design - robotic kinematics, path and motion planning, and integration with common manufacturing technologies. Upon completion, students will be prepared to take on their first robotics integration project to interface with real sensors, robots, and control algorithms.
Course Delivery:
A 1-day, 8-hr short-course is planned for November 5th, 2022. Learn more at the course page: go.osu.edu/learnros
Course Material:
Course content is fully available online at the below links.
Course PreRequisites:
Content is written to be accessible to anyone with an entry-level engineering background. Students are assumed to have a basic understanding of the following areas..
- Linear Algebra. Matrix operations, complex numbers, eigenvalues, eigenvectors
- Programming. Basic Python skills.
- Physics. Free-body diagrams, vector forces, torques, cross-products, dot-products.
Additionally, a course preparation guide is provided below the course content section.
Course Structure & Content
| Lecture | Lecture Title | Lecture Content | Lab Content |
|---|---|---|---|
| L1 | Introduction to Robotics | Lecture Slides | |
| L2 | Rigid Body Motions | Mathematica Example | |
| L3 | Forward Kinematics | Matlab Example | |
| L4 | Inverse Kinematics | ||
| ... | ... | ||
| L10 | Introduction to Industrial Robots | Lecture Slides | |
| L11 | Industrial Robots - Programming | Exercise | |
| ... | ... | ||
| L20 | Introduction to ROS | Lecture Slides | |
| L21 | ROS Architecture 1 | Lecture Slides | Tutorial |
| L22 | ROS Architecture 2 | Lecture Slides | Tutorial |
| L23 | ROS Inspection Tools | Lecture Slides | |
| L24 | Robot Descriptions - URDF's and Xacro's | Lecture Slides | Exercise |
| Demo2 Setup | |||
| L30 | Motion Planning 1 | ||
| L40 | Git | Lecture Slides | Tutorial |
| L41 | Github and Git Clients | Lecture Slides | Tutorial - GitKraken |
| L42 | Github Permissions and Code Contribution Process | Lectures Extras | |
| L43 | Networking 1 | Lecture Slides | |
| L44 | Networking 2 | Lecture Slides |
Course Preparation
Prior to the first lecture, you are expected to setup a Virtual Machine or dedicated Linux workstation to support coursework. All ROS development must be completed in an Ubuntu environment.
| Virtual Machine (using VirtualBox) |
Ubuntu 20.04 Focal (download ISO) (release page) |
| OCRI VM Usage Guide | OCRI Usage Guide |
| ROS Installation Script |
Ubuntu 18.04 Bionic Setup Shell Script |
| Setup 2-Factor Authentication for Github | Instruction Guide for OSU Students |
Course Feedback
If you would like to help improve our course content or report any issues, please do so using the below feedback form. Thanks!