The code used in this tutorial is available!

Code can be found at industrial_training repository in doc folder. Use kinetic-devel branch.

ROS Industrial (Kinetic) Training Exercises

Setup PC

• PC Setup

Prerequisites

C++

• MIT Introduction to C++
• Bruce Eckel Thinking in C++

Linux Fundamentals

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

Basic Topics

Session 1 - ROS Concepts and Fundamentals

• Exercise 1.0 - ROS Setup
• Exercise 1.1 - Create a Workspace
• Exercise 1.2 - Installing Packages
• Exercise 1.3 - Packages and Nodes
• Exercise 1.4 - Topics and Messages

Session 2 - Basic ROS Applications

• Exercise 2.0 - Services
• Exercise 2.1 - Actions
• Exercise 2.2 - Launch Files
• Exercise 2.3 - Parameters

Session 3 - Motion Control of Manipulators

• Exercise 3.0 - Intro to URDF
• Exercise 3.1 - Workcell XACRO
• Exercise 3.2 - Transforms using TF
• Exercise 3.3 - Build a MoveIt! Package
• Exercise 3.4 - Motion Planning using RViz

Session 4 - Descartes and Perception

• Exercise 4.0 - Motion Planning using C++
• Exercise 4.1 - Intro to Descartes
• Exercise 4.2 - Intro to Perception

Application Demo - Perception-Driven Manipulation

• Demo 1.0 - Introduction
• Demo 1.1 - Inspect the "pick_and_place_exercise" Package
• Demo 1.2 - Package Setup
• Demo 1.3 - Start in Simulation Mode
• Demo 1.4 - Initialization and Global Variables
• Demo 1.5 - Move Arm to Wait Position
• Demo 1.6 - Open Gripper
• Demo 1.7 - Detect Box Pick Point
• Demo 1.8 - Create Pick Moves
• Demo 1.9 - Pick Up Box
• Demo 1.10 - Create Place Moves
• Demo 1.11 - Place Box

Application Demo - Descartes Planning and Execution

• Demo 2.0 - Introduction
• Demo 2.1 - Application Structure
• Demo 2.2 - General Instructions
• Demo 2.3 - Load Parameters
• Demo 2.4 - Initialize ROS
• Demo 2.5 - Initialize Descartes
• Demo 2.6 - Move Home
• Demo 2.7 - Generate a Semi-Constrained Trajectory
• Demo 2.8 - Plan a Robot Path
• Demo 2.9 - Run a Robot Path

Advanced Topics

Session 5 - Path Planning and Building a Perception Pipeline

• Exercise 5.0 - Advanced Descartes Path Planning
• Exercise 5.1 - Building a Perception Pipeline
• Exercise 5.2 - Introduction to STOMP

Session 6 - Documentation, Unit Tests, ROS Utilities and Debugging ROS

• Exercise 6.0 - Documentation Generation
• Exercise 6.1 - Unit Testion
• Exercise 6.2 - Using rqt tools for Analysis
• Exercise 6.3 - ROS Style Guide and ros_lint
• Exercise 6.4 - Introduction to ROS with Docker and Amazon Web Services (AWS)

Open Source Feedback

See something that needs improvement? Please open a pull request on this GitHub page