EE478

KAIST EE478 Introduction to Multidisciplinary Robotics.

Week 2 - Experiment Outline

Lecture Note Week 2

• Introduction of Autonomous Drone
• Drone Simulation
• ROS (Background)
• Ubuntu Installation

Week 4 - Robotics Operating System (ROS)

Lecture Note Week 4

• Ubuntu setup (Recap)
• ROS Background (Recap)
• ROS Tutorials
• ROS Programming
• Assignment 1: Simple ROS topic publisher & subscriber
• Appendix (ROS Tools, ROS Messages)

Week 7 - GAZEBO Simulation and Control

Lecture Note Week 7

• PX4 GAZEBO Simulator
• MAVLINK and MAVROS
• Controllers
• PX4 Simulator installation
• Controlling simulated drone using MAVROS
• Assignment 2: Simulation environment setting and waypoint control

Week 9 - Supplementary

Lecture Note Week 9

• Control & PX4 Simulator
• Midterm Project
• Announcements

Week 11 - Hardware Configuration for the Drone Platform

Lecture Note Week 11

• Overview of the Final Project
• Drone Hardware Configuration
• Wiring Diagram & Cable & Soldering

Week 13 - Software Configuration for the Drone Platform

Lecture Note Week 13

• Software Architecture
• Setting up the Jetson Xavier NX
• Installation of the Sensor Interface (RealsenseD435)
• Installation of the Control Interface (MAVROS)
• Perception: Pose Estimation (PoseNet) (will be handled in next TA session!)
• Perception: Visual Odometry (ORB-SLAM)
• Mission Planning & Velocity Control

Week 14 - Software Configuration & Demo for the Selfie Drone

Lecture Note Week 14

• Perception: Pose Estimation (PoseNet)
• Integration for the Selfie Drone
• Appendix:
  • Overclock Settings for the Jetson Xavier NX
  • Issues of ORB-SLAM