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CSE 481 C: Robotics Capstone, Spring 2022
Maya Cakmak edited this page Apr 25, 2022
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- Lab 1: Starting ROS and the simulator and getting the starter code
- Lab 2: Controlling the base
- Lab 3: Controlling the gripper
- Lab 4: Gripper on the real robot
- Lab 5: Controlling the torso
- Lab 6: Controlling the head
- Lab 7: Controlling the arm
- Lab 8: Reading joint states
- Lab 9: Robot web applications
- Lab 10: Robot web interfaces
Note: After Lab 4, it is possible for one or two members of your team to split off and go straight to Lab 10 (read over Lab 9 first).
- Lab 11: Visualizations in ROS with RViz
- Lab 12: Creating Custom Visualizations in RViz using Markers
- Lab 13: Creating Interactive Visualizations in RViz using InteractiveMarkers
- Lab 14: Odometry and rotations
- Lab 15: Driving with odometry
- Lab 16: Mapping and navigation
- Lab 17: Sending navigation goals
- Lab 18: Map annotation from a web interface
Note: Roughly, Labs 11-13, 14-15, and 16-18 can be done concurrently.
- Lab 19: Cartesian space manipulation
- Lab 20: Checking for reachability
- Lab 21: Obstacle avoidance
- Lab 22: Path constraints
- Lab 23: TF
- Lab 24: Transform arithmetic
- Lab 25: Fast IK with IKFast
- Lab 26: Advanced interactive markers
If you are not familiar with C++, consider reading through the C++ crash course to help with this week's labs. Labs 27-29 and Labs 30-33 can be done semi-concurrently. However, they both require the use of RViz and Gazebo.
- Lab 27: Our first cpp package
- Lab 28: AR tags
- Lab 29: Robot Programming by Demonstration
- Lab 30: Introduction to point cloud processing
- Lab 31: Planar segmentation
- Lab 32: Euclidean clustering
- Lab 33: Fitting bounding boxes
Please let the course staff know if there's a tutorial you'd like to see! More will be posted as they become relevant.