CSE 481 C: Robotics Capstone, Spring 2022

Week 1

• Getting set up
• Lab 0: Introduction and ROS tutorials

Week 2

• 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).

Week 3

Roughly: Labs 11-13, 14-15, and 16-18 can be done concurrently.

• 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

Week 4

• 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