Mario Selvaggio
Academic Year 2024/2025
- Monday, 8:30-10:30, Room NA-I-A6
- Wednesday, 8:30-10:30, Room NA-T-A6
Lectures are taught in person. Microsoft Teams (MT) platform will be used in case of attendance issues, to share class material, and general course's organization. Students are kindly invited to join the MT class with code ag6cvf0.
Send an e-mail (using the tag [RL2024] in subject) to the instructor or to the assistant(s) to communicate with us. You can book a 1-hour meeting via the appointment scheduling feature provided by google calendar. The assistantship will be provided in person and/or via the MT platform.
In this course you will learn how to efficiently build robotic applications using the Robot Operating System (ROS), that provides you access to a large set of open-source software and tools. Students will learn from partaking in practical activities.
- Understanding the ROS architecture, programming, and tools
- Creating ROS C++ programs using external libraries
- Simulating and controlling a robotic system to perform a task
- Introduction and course overview
- ROS essentials:
- Preliminary setup: linux operating system, git, docker, C++ programming
- ROS introduction, programming & tools
- ROS robot simulation
- ROS robot motion planning
- Manipulation:
- Kinematics and dynamic control algorithms
- Trajectory planning
- Robotic vision:
- Computer vision
- Visual servoing
- Autonomous navigation:
- Differential drive mobile robot
- Navigation & SLAM
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No textbook recommended. Links to useful online resources will be shared along the course.
The exam consists of an oral discussion of a technical project developed along the course. For course attenders, classwork and homeworks will be used to assess the student's knowledge. Homeworks assigned during classdays must be completed within one week. A template for the report can be found here. Students not attending are required to contact the instructor to define the technical project to be developed in simulation.
Here is a tentative schedule of lectures. Readings and assignments will be added as they become available.
| Days | Topic | Homeworks | ||
| WEEK 1 | Monday 16/09 | Wednesday 18/09 | Introduction and Overview |
|
| Introduction | Setup your PC | |||
| WEEK 2 | Monday 23/09 | Wednesday 25/09 | ROS essentials | |
| ROS – Introduction | Hands-on class | |||
| WEEK 3 | Monday 30/10 | Wednesday 02/10 | ||
| ROS 2 – Basics | ROS 2 – Packages and workspace | |||
| WEEK 4 | Monday 07/10 | Wednesday 09/10 | ||
| ROS 2 – Launch | Hands-on class | |||
| WEEK 5 | Monday 14/10 | Wednesday 16/10 | ||
| ROS 2 – Tools | ROS 2 – Simulation | |||
| WEEK 6 | Monday 21/10 | Wednesday 23/10 | ||
| ROS 2 – Sensors & controllers | Hands-on class | HW 1: Bring up your robot manipulator | ||
| WEEK 7 | Monday 28/10 | Wednesday 30/11 | Manipulation | |
| Kinematics & dynamics – KDL | ||||
| WEEK 8 | Monday 04/11 | Wednesday 06/11 | ||
| Kinematics & dynamics – KDL | Hands-on class | |||
| WEEK 9 | Monday 11/11 | Wednesday 13/11 | ||
| Trajectory tracking – KDL | Hands-on class | HW 2: Control a manipulator to follow a trajectory | ||
| WEEK 10 | Monday 18/11 | Wednesday 20/11 | Robotic vision | |
| Vision sensors | Computer vision - Open CV | |||
| WEEK 11 | Monday 25/11 | Wednesday 27/11 | ||
| Visual Servoing – VISP | Hands-on class | HW 3: Implement a vision-based task | ||
| WEEK 12 | Monday 02/12 | Wednesday 04/12 | Autonomous navigation | |
| Differential drive mobile robot | Autonomous navigation & path planning | |||
| WEEK 13 | Monday 09/12 | Wednesday 11/12 | ||
| SLAM | Hands-on class | HW 4: Control a mobile robot to follow a trajectory | ||
| WEEK 14 | Monday 16/12 | Wednesday 18/12 | ||
Click here for the Slides PDF file
Click here for the Setup your PC PDF file
Click here for the Homework 0 PDF file
Click here for the Homework 1 PDF file
Click here for the Homework 2 PDF file