R.O.S.2 - Robot Operating System - Generating and enhancing knowledge

Open to:

Anyone wishing to develop R.O.S. 2 (Robot Operating System) programming and use. R.O.S. 2 is a complete operating system particularly well suited for the development of robotic service applications.

Entry requirements

Basic knowledge of Linux and programming in C++ / CMake / or Python.

3-day programme

The 3-day programme is described below as an example. Centrale Nantes Executive Education can deploy this programme and also design a tailor-made R.O.S. programme, according to your requirements, your context and the training needs that we can help you to define.

The first day of the three-day training programme focuses on 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 (Baxter / Turtlebot)

PROGRAMME - Day 1

Getting started on R.O.S. 2 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 in Rviz
• Simulation in Gazebo

Consolidation

• Create and compile a package
• Definition of a simple arm
• Simple visualization and control
• Simulation in 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 and ROS 2 to the students at Centrale Nantes.

Next training session

Next session: Thursday 18 November - Friday 26 November - Tuesday 30 November 2021.

Practical Information

Location

Day 1 & 3, face-to-face at Centrale Nantes or online (if imposed due to public health restrictions).
Day 2, online. 

Group size

The course is open to a minimum of 6 participants