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ROS Industrial (Kinetic) Training Exercises

Setup Your PC

• PC Setup

Prerequisites

Linux Fundamentals

• Presentation Slides - Linux Basics
• Exercise 0.1 - Intro to the Ubuntu GUI
• Exercise 0.2 - The Linux File System
• Exercise 0.3 - Using the Terminal

C++

• MIT Open Courseware: Introduction to C++
• Bruce Eckel: Thinking in C++

Introduction

• Presentation Slides - Introduction

Session 1 - ROS Concepts and Fundamentals

• Presentation Slides - Session 1
• Exercise 1.0 - ROS Setup
• Exercise 1.1 - Create a Catkin Workspace
• Exercise 1.2 - Installing Existing Packages
• Exercise 1.3 - Creating a ROS Package and Node
• Exercise 1.4 - Topics and Messages

Session 2 - Basic ROS Applications

• Presentation Slides - Session 2
• Exercise 2.0 - Services
• Exercise 2.1 - Actions
• Exercise 2.2 - ROS Launch Files
• Exercise 2.3 - Parameters

Session 3 - Motion Control of Manipulators

• Presentation Slides - Session 3
• Exercise 3.0 - Intro to URDF
• Exercise 3.1 - Workcell XACRO
• Exercise 3.2 - Coordinate Transforms using TF
• Exercise 3.3 - Build a Moveit! Package
• Exercise 3.4 - Motion Planning Using RViz

Session 4 - Descartes and Perception

• Presentation Slides - Session 4
• Exercise 4.0 - Motion Planning using C++
• Exercise 4.1 - Descartes Path Planning
• Exercise 4.2 - Introduction to Perception
• Exercise 4.3 - Building a Perception Pipeline
• Recap Slides

Session 5 - Advanced Topics

• Presentation Slides - Session 5
• Exercise 5.0 - Documentation Generation from Annotated Sources Using rosdoc_lite
• Exercise 5.1 - Unit Testing
• Exercise 5.2 - Using rqt Tools for Analysis of ROS Systems
• Exercise 5.3 - Style Guide and ros_lint
• Exercise 5.4 - Introduction to STOMP

Application Demo - Perception-Driven Manipulation

• Introduction - Introduction
• Perception-Driven Manipulation Exercise 1 - Inspect the "pick_and_place_exercise" Package
• Perception-Driven Manipulation Exercise 2 - Package Setup
• Perception-Driven Manipulation Exercise 3 - Bring up ROS System in Simulation Mode
• Perception-Driven Manipulation Exercise 4 - Inspect Initialization and Global Variables
• Perception-Driven Manipulation Exercise 5 - Move Arm to Wait Position
• Perception-Driven Manipulation Exercise 6 - Open Gripper
• Perception-Driven Manipulation Exercise 7 - Detect Box Pick Point
• Perception-Driven Manipulation Exercise 8 - Create Pick Moves
• Perception-Driven Manipulation Exercise 9 - Pick Up Box
• Perception-Driven Manipulation Exercise 10 - Create Place Moves
• Perception-Driven Manipulation Exercise 11 - Place Box

Application Demo - Descartes Planning and Execution

• Introduction
• Application Structure
• General Instructions
• Descartes Planning and Execution Exercise 1 - Load Parameters
• Descartes Planning and Execution Exercise 2 - Initialize ROS
• Descartes Planning and Execution Exercise 3 - Initialize Descartes
• Descartes Planning and Execution Exercise 4 - Move Home
• Descartes Planning and Execution Exercise 5 - Generate a Semi-Constrained Trajectory
• Descartes Planning and Execution Exercise 6 - Plan a Robot Path
• Descartes Planning and Execution Exercise 7 - Run a Robot Path