Goal: The Robot Operating System (ROS) is a platform widely used in research and in the
industry. The students will learn how to develop ROS applications in Python programming
language. The aim of the course is to get the students acquainted with ROS 2 and sensor fusion,
and also to give them an opportunity to practice Python.
Course description: ROS introduction, ROS 1 and ROS 2, setting up the development environment.
Implement ROS packages in Python. Basic ROS communication, implementing publishers and
subscribers. Principles of robotics, programming a simulated robot in joint and workspace. Roslaunch,
ROS parameter server. Programming da Vinci surgical robot in simulated environment. Define custom
messages. ROS service and ROS action. URDF, interfacing to web environment: RosBridge, RoslibJS.
Kalman filter. Acquisition and processing of sensory data in ROS. Sensor fusion using Kalman filter.
Implementation of odometry-IMU sensor fusion on mobile robot platform.