Design of Advanced Robotic Applications

2nd Level of Study, 1st Year, Winter Semester

Students will acquire practical skills in the use of the ROS (Robot Operating System) robotics framework, which enables the development of advanced robotic applications. They will learn to work with the core libraries supported by the framework for the design and simulation of industrial and mobile robots. Furthermore, they will be able to extend, customize, and enhance these libraries according to specific application requirements. They will subsequently be able to verify the functionality of these advanced applications using the Gazebo simulation environment. As a result, students will gain a comprehensive understanding of the design and implementation of advanced applications in industrial and mobile robotics.

1. Basic ROS concepts.
2. ROS installation and startup, command-line interface.
3. Hello World program – subscriber and publisher (basic ROS applications).
4. TF (Transform Framework) and its significance in ROS.
5. Gazebo simulation environment.
6. MoveIt library – simulation of an industrial robotic arm.
7. Move Base library – simulation of a mobile robotic platform.

[1] E. Fernández, L. Sanchez Crespo, A. Mahtani, and A. Martinez, Learning ROS for Robotics Programming: Your One-stop Guide to the Robot Operating System. Birmingham, UK: Packt Publishing, 2015. ISBN 978-1-78398-758-0.

[2] L. Brombach, Practical Robotics in C++: Build and Program Real Autonomous Robots Using Raspberry Pi. BPB Publications, 2021. ISBN 978-93-89423-464.

[3] J. Lentin, Learning Robotics using Python. Birmingham, UK: Packt Publishing, 2018. ISBN 978-1-78862-331-5.

[4] B. Gerkey, M. Quigley, and W. D. Smart, Programming Robots with ROS: A Practical Introduction to the Robot Operating System. Sebastopol, CA, USA: O'Reilly Media, 2016. ISBN 978-1-44932-389-9.