Schedule
This page provides a tentative schedule for lecture topics for the course. Refer to the Lectures page for actual content, reading material, exercises, etc. The schedule will evolve as the course progresses.
Week 01: August 25
Tuesday:
- Lecture: Course Administration
- Lecture: ROS2 Concept Overview
- Homework:
- ROS installation and environment setup
- Start Your First ROS2 Node
- Create and Set Up a ROS2 Workspace
- Create a ROS2 Python Package
Thursday: ROS Basics
- Lecture: Coding ROS2 Nodes
Assignment
- Heater Control System, Due Monday Sept 8, 11:59 pm.
Week 02: Sept 1
Tuesday: ROS Basics
- Lecture: Parameters
- Lecture: Launch Files
Thursday: ROS Basics
- Lecture: Interfaces (Msg, Srv)
Week 03: Sept 9
Tuesday: ROS Basics
- Lecture: Services
Thursday: Project Planning
Week 04: Sept 15
Tuesday: Design and Simulation
- Lecture: URDF Overview - designing physical aspects of a robot with URDF
Thursday: Design and Simulation
- Lecture: Applying URDF
Week 05: Sept 22
Tuesday: Design and Simulation
- Lecture: Robot State Publisher
- Lecture: Improving your URDF with XACRO
Thursday: Project Overview (no class - videos to watch on your own)
- Articulated Robots - Why You Should Build This Robot
- Articulated Robots - Creating a rough 3D model of our robot with URDF
Assignment
- URDL/xacro - simple arm integrated with mobile base, Due Monday Sept 29, 11:59 pm.
Week 06: Sept 29
Tuesday: Design and Simulation
- Lecture: Simulating with Gazebo (Part 1)
Thursday: Design and Simulation
- Lecture: Simulating with Gazebo (Part 2)
Week 07: Oct 6
Tuesday: Navigation
- Lecture: Integrating Gazebo and ROS2 and using the Gazebo Diff Drive plug-in
Thursday
- Project Kick-off: Setting up Robot Computer
Week 08: Oct 13
Tuesday
- Project: Setting up Motors
Thursday
- Project: Setting up Motors (continued)
Week 09: Oct 20
Tuesday
- Project: Electrical System and Chassis
- Project: On your own: Setting up Robot Model (RVIZ) and Gazebo Simulation
Thursday
- Project: Electrical System and Chassis
- Project: On your own: Setting up Robot Model (RVIZ) and Gazebo Simulation
Week 10: Oct 27
Tuesday
- Lecture: ROS Control
- Project: Initial drive of robot via remote control
Thursday
- Lecture: ROS Control
- Project: Initial drive of robot via remote control
Week 11: Nov 3
Tuesday
Thursday
Week 12: Nov 10
Tuesday
Thursday
Week 13: Nov 17
Tuesday
Thursday
Week A: Nov 24 - Thanksgiving Break
(No lectures)
Week 14: Dec 1
Tuesday
Thursday
Week 15: Dec 8
Tuesday
Thursday
Finals Week: Dec 15 (Project Presentations and Wrap-Up)
Tuesday
Thursday