R.O.S. - Robot Operating System - Generating and enhancing knowledge

Open to:

Anyone wishing to develop R.O.S. (Robot Operating System) programming and use. R.O.S. is a complete operating system particularly well suited for the development of robotic service applications.


3 stages

This is a three-day training programme. The frst day is devoted to getting to grips with  the software. In day two the emphasis is placed on developing programming skills. The final day is set aside for consolidation with a case study and / or a project carried out by the trainees.

1. Discover the concepts behind the software and get started
2. Programming and simulation
3. Put into practice with programming on a 'real' robot.


Next session - cancelled


PROGRAMME - Day 1

Getting started on R.O.S. software.
Presentation of the basics
  • Software and community ecosystem
  • Basic tools
  • Nodes, topics and services
  • Package concept 

Graphical tools and robot models
  • Modelling an arm and a camera
  • Visualization under Rviz
  • Simulation under Gazebo
Consolidation
  • Create and compile a package
  • Definition of a simple arm
  • Simple visualization and control
  • Simulation under Gazebo

PROGRAMME - Day 2

Mobile robotics and stack Navigation
Presentation of the mobile robot ecosystem
  • Modelling a mobile robot
  • SLAM tools and localisation (Kalman filters)
  • Planning and trajectory tracking
Consolidation
  • Analysis and modification of an existing package
  • Navigating a Turtlebot

PROGRAMME - Day 3

Control of a redundant robot
Discover the Baxter robot
  • Control in position and speed
  • Inverse kinematics
  • Image acquisition
Advanced control
  • Visual servoing (image processing is not detailed)
  • Dynamic Reconfigure Tool

Trainer

Olivier Kermorgant - Robotics Professor and Researcher in the LS2N Laboratory.
O. Kermorgant was previously a research engineer at IRT Jules Verne working on the prototyping of an autonomous mobile robot for the naval industry. He also had a 6-month assignment at Heriot Watt University Laboratory in Edinburgh alongside Yan Petillot.
O. Kermorgant uses ROS on a daily basis for research work in visual servoing, perception and control of autonomous vehicles, and simulation of complex robots (submarines, cable robots). He also teaches ROS to the students at Centrale Nantes.
Published on June 18, 2018 Updated on March 11, 2019