Robot Programming and Simulation

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Robot Programming and Simulation

Course Description

High complexity of tasks that the modern mobile robots are facing calls for using a programming infrastructure which enables efficient integration of independently developed subsystems into a single system enabling autonomous robot operation. The Robot Operating System (ROS) offers an environment for developing modular control software, a communication infrastructure to connect the software components and an open source library of implemented algorithms. In the last five years ROS has become the standard for robot control in the academic community and its influence is spreading also in the industry. In the scope of this course we shall cover the practical development of software modules in the ROS environment and their integration into a completely functional system for autonomous robot control.

Learning Outcomes

describe and apply the basics of the ROS system
demonstrate basic skills of programming ROS nodes
describe and apply basics of robot and environment modelling for simulations
demonstrate understanding of RTOS concepts and intraprocess communication
demonstrate an ability of developing interface and control of robotic systems using ROS

Forms of Teaching

Lectures

Lectures will be interactive where students will follow the lecturer step-by-step in solving simple examples.

Laboratory

In laboratory exercises students will solve more complex examples from the materials covered by lectures.

Grading Method

	Continuous Assessment		Exam
Type	Threshold	Percent of Grade	Threshold	Percent of Grade
Laboratory Exercises	50 %	40 %	50 %	40 %
Mid Term Exam: Written	50 %	30 %	0 %
Final Exam: Written	50 %	30 %
Exam: Written			50 %	60 %

Week by Week Schedule

Basic ROS concepts (packages, nodes, messages and topics)
Basic ROS concepts (packages, nodes, messages and topics), Programming ROS nodes
Programming ROS nodes, Configuring the ROS navigation stack
The ROS transform tree
The ROS transform tree, Recording and playing back data
Simulation tool requirements, Robot modelling for simulation
Environment modelling, Modelling and simulating physical interactions
Midterm exam
RTOS concepts, Real-time scheduling
Synchronization services, Real-time interprocess communication
Distributed robotic system architecture
User interface design basics
Interface usability and efficiency
Programming haptic interfaces, Programming voice control
Final exam