ROS2: Path Planning Algorithms Python Implementation
AI, Deep Learning and Robotics
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Robotics: ROS2
ROS2 and Gazebo
Differential Drive Robot
Introduction
Optimizing URDF model using XACRO
libgazebo_ros_diff_drive.so: 2 wheels
libgazebo_ros_diff_drive.so: 4 wheels
libgazebo_ros2_control.so: 2 wheels
Controlling our robot from ROS2 node
GUI example
Links
ROS2 Navigation: Basics
Introduction
Transformations
Robot Setup
Theory
Adding IMU sensor
Localization package
Build, Run and Verification
Navigation: Sensors
Theory: Sensors Messages
Sensors in Gazebo
Mapping and Localization
Theory: Topics
Overview of Files
Costmap 2D
Theory: Occupancy Grid
Configuring nav2_costmap_2d
Build, Run and Verification
Navigation: Improved project
Gazebo
Show the robot
Bringing up RViz
Using keyboard to move robot around
Creating a map in RViz
Launch Files
Theory: Footprint
config/nav2_params.yaml
Theory: Navigation Plugins
Links
We use ROS2 Galactic now!
Making sure Gazebo and RViz are closed
Navigation: Examples
Creating a map from a PNG
Waypoint Follower
Theory
Things to keep in mind
Robot initial state
Script files
Compiling and Running
Links
Navigating with Keepout Zones
Introduction
Creating a map with keepout zones.
Costmap Filter Info Publisher Server
Enabling the Costmap Filter
Compiling and Running
Links
Navigating along given path
Introduction
Reusing Waypoints Follower
Compiling and Running
Links
Utility to add waypoints to map
Go to battery charger
Intro
Quick and (very) dirty solution
Alternative solution
Another alternative solution
Compiling and Running
Links
Dock to battery charger - 1
Intro
Aruco codes
Adding docking station to the World
ROS2 Galactic and teleop_gui
How to dock to a charger
Docking to charger: script
Things to improve
Compiling and Running
Links
Dock to battery charger - 2
Intro
Changes to
nav2_params.amcl
Changes to
basic_navigator.py
Changes to
11_charger_docking.py
Compiling and Running
Links
Dock to battery charger - 3
Intro
11a_charger_docking.py
Compiling and Running
Links
Multiple Robots
Multiple Robots: Traditional approach
Introduction
multi_simulation_launch.py
URDF files
Compiling and Running
Links
Multiple Robots: Navigation
Introduction
multi_simulation_launch.py
URDF files
nav2_params_multi.yaml
bringup_launch.py
localization_launch.py
slam_launch.py
navigation_launch.py
Script for multi robot navigation
Compiling and Running
Links
Multiple Robots: Alternative 1
Tired of generate_launch_description?
Multiple Robots: obstacles
Custom Nav Algorithms
Localization and Custom Path
Introduction
Localization
Project Setup
Straight Line Path Planner
Pure Pursuite Path Follower
Compiling and Running
Links
Lines and Markers
Introduction
Path visualization in RViz
Path visualization in Gazebo
Using images as Gazebo "textures"
Compiling and Running
Links
Map Editing Utility
Introduction
Data Format
Tutorial
Path Planning with A*
Introduction
A-Star Algorithm: grid
A-Star Algorithm: Adjacency List
Adding A-Star (Graph) to our Project
Adding A-Star (Grid) to our Project
First and last mile
Compiling and Running
Links
Building 2.5d world
Textured 3d mesh from topo map
Introduction
Creating a map
Adding 3d mesh to Gazebo world
Role of DAE format in Landscape Design
Code walkthrough
Compiling and Running
Links
Adding roads to 3d mesh
Introduction
Algorithm for adding a road
Code walkthrough
Compiling and Running
Links
First Person View 2.5D world navigation
Introduction
Topo3d Utility code walkthrough
Compiling and Running
Navigation in 2.5D world
Introduction
Kalman Filter
Introduction
Kalman Filter: a REALLY brief theory
Kalman Filter: a longer theory
Kalman filter for Robot localization
Testing Kalman filter
Compiling and Running
Links
Using Kalman Filter for ROS2 Localization
Introduction
Kalman Filter, ROS2 and Gazebo
GPS, IMU and Magnetometer with UKF in ROS2
Compiling and Running
Links
Simulation with slippage and drift
Code structure - Important!
Introduction
Proper sensor simulation
Compiling and Running
Links
Sensor Fusion
Code structure - Important!
Sensor Fusion Theory
Practical Sensor fusion
Sensor fusion in Gazebo
Compiling and Running
Links
Sensor Fusion and Localization in 3d
Code structure - Important!
Introduction
3d simulation
Sensor fusion in 3d world (no Gazebo)
Path visualization in Gazebo
Sensor fusion in Gazebo simulator
Compiling and Running
Navigation in 2.5D (part 2)
Aruco markers as 2.5d Landmarks
Code structure - Important!
Introduction
Preparing aruco markers
3d simulation - no Gazebo
Running it in Gazebo
Compiling and Running
Links
Path Planners in 2.5d world (1)
Introduction
Code structure - Important!
Keepout map
Utilities
class PlannerStraightLine
class PlannerAStarGrid
class PlannerAStarGridDynamic
class PlannerAStarGraph
Coordinator class
Robot class
Localization node
Compiling and Running
Links
Path Follower Revisited
Introduction
Code structure - Important!
Changes in kalman.py ($)
Overall control flow
Using Landmarks in Localization
PathFollower class
Compiling and Running
Links
Robotic Arm
6 DOF Manipulator and Controllers
Introduction
Structure of a package
Launch file
Meshes
URDF Description
Controllers
Following the Trajectory
Forward and Inverse Kinematics
Building and Running
Links
Gripper
Introduction
Structure of a package
Launch file
Meshes
URDF Description
Controllers
Following the Trajectory
Building and Running
Links
Fixing Gazebo Gripper
Introduction
Changed files
Trajectory and Gripper Script
Building and Running
Links
Robotics: Hardware
ESP8266
ESP8266 / NodeMCU Intro and installation
Blinker Example
Thermistor Example
NodeMCU Web Server
NodeMCU Web Server + Thermistor
Multiple Analog Sensors with NodeMCU Web Server
74HC 4051 8 channels multiplexer
Peltier Freezer Experiments
Measuring pulse with MAX3010X
NRF24L01 2.4 GHz Transceiver Module
XY-PWM signal generator
Relays and solenoids
Relay surge protection
Controlling push-pull solenoid
Links
Servo motors
Controlling servo motors with Arduino
Using PWM driver
Controlling servo with ESP8266 / ESP32 board
Links
L293D motor driver
Controlling motors with ESP8266 and L293D
Robotics: My Robots
PCB Editor
PCB etching
Robotic Spider: Complete Guide
Introduction
Spider: Mechanics
Spider: Electronics
Robotic Spider: Software
To do list...
Software: AI Related
Robotics: DIY
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