ARMinor-2020

Opensource-Virtual-Learning-Environment-AROVLE

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Intro:

This repository includes the tutorial files and ROS packages created as a part of the opensource virtual learning envrironment project at fontys university - adaptive robotics minor.

The project aims to make a set of tutorials for the simulation of robotics in ROS, that can be utilised through a cloud-based computing platform which will allow students and robotics enthusiasts around the world with limited hardware to run their simulations and start their journy in the robotics field.

This repository supports trainings at the ROS-Industrial training centre at Fontys University of Applied Sciences for the Adaptive Robotics minor (ROSIN EP FREROS project)

This Educational Project has received funding from the European Union's Horizon 2020 research and innovation programme under the project ROSIN with the grant agreement No 732287.

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Tutorials list:

Introduction to ubuntu:

a quick tour over ubuntu OS, basic commands and shortcuts.

Introduction to ROS:

installation and ROS environment configuration, basic ROS commands, and most used packages.

Introduction to Gazebo:

a tour of ROS's simulation envronment.

Modeling a simple Robot:

Creating a robot description package of a 2 link manipulator, demonstrates URDF and launch files.

Creating a Heterogeneous robot:

using a solidworks generated robot description package, Gazebo plugins, Gazebo world files, visualizing data in Rviz.

Mapping:

creating a mapping package and mapping the environment with slam-gmapping, using the robot created in previous tutorials

Navigation:

introduction to ROS navigation stack, global and local planners, configuration files, launch files, and tunning the planners parameters.

ROS control:

understing ROS control & gazebo transmissions, gazebo Ros_control plugin, creating a ROS control package which will be used in the future tutorials with moveit.

Manipulator control using moveit:

graphical motion planning using moveit, the setup assistant, moveit and gazebo integration.

Cartesian path planning in moveit:

the use of RvizVisulTools, and MoveGroupInterface Api in c++.

Matlab and ROS integration:

integrate a matlab generated code for a motor pid controller with ROS, using a simple two link robot for visualization in Rviz.

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For more information or to start following the tutorials please visit our git Wiki:

https://github.com/fontysrobotics/ARMinor-2020-Opensource-Virtual-Learning-Environment-AROVLE/wiki