CRA336 Robot Operating Systems Syllabus:

CRA336 Robot Operating Systems Syllabus – Anna University Regulation 2021

COURSE OBJECTIVES:

1. To introduce ROS and programming
2. To develop the Robot environment
3. To obtain the simulation robots in ROS with GAZEBO
4. To simulate robots with V-Rep
5. To understand mapping, navigation and motion planning ROS with Move-it

UNIT – I ROS ESSENTIALS

Introduction to ROS- Advantages and Disadvantages of ROS – ROS Framework- ROS package C++, Python – ROS computation Graph – nodes, Messages, topics, services, bags, ROS Master- ROS Community- Basic programming and Syntax overview in C++ and Python – start with ROS programming – Creating Environment – Services-Actions and Nodes- Simple Interaction with the Simulation environment

UNIT – II BUILD YOUR OWN ROBOT ENVIRONMENT

CAD Tools for Robot Modelling – ROS Packages for robot modelling – Unified Robot Description Format and Tags- Kinematics and Dynamics Library – Create URDF Model – Robot Modelling using Unified Robot Description Format (URDF),-ROS parameter server and adding real-world object representations to the simulation environment _ Create Robot description using 7 DOF: joint number, name, type and angle limits – Xacro – Rviz – viewing of 7 DOF arm – creation of wheeled robot

UNIT – III SIMULATION ROBOTS IN ROS WITH GAZEBO

Robot simulation – Gazebo –create simulation model at Gazebo- Adding colors, textures, transmission tags, 3D vision sensor to Gazebo- Moving robot joints using ROS controllersROS controller interacts with Gazebo, interfacing state controller, simulation of moving the robot joints – simulation of differential wheeled robot in Gazebo.

UNIT – IV ROS WITH VREP

V-REP is a multi-platform robotic simulator – Simulating the robotic arm using V-REP – Adding the ROS interface to V-REP joint – Simulating a differential wheeled robot, Adding a laser sensor , 3D vision sensor

UNIT – V MAPPING, NAVIGATION AND MOTION PLANNINGROS WITH MOVEIT

Move it Instattion – Generating the Self-Collision matrix .virtual joints, planning groups, robot poses, robot end effector – MoveIt Architecture Diagram – Trajectory from RViz GUI executing in Gazebo – Planning scene overview diagram- Collision Checking – Motion Planning, Pick and Place Behaviors using Industrial Robots with ROS Moveit – ROS with MATLAB – ROS with Industrial

TOTAL: 45 PERIODS

COURSE OUTCOMES

Upon successful completion of the course, students should be able to:
CO1: Recognize the concept of ROS and programming.
CO2: Evaluate various robot algorithms in ROS programming
CO3: Deploy mapping, navigation and motion planning ROS with Move-it.
CO4:Simulate robots in ROS with GAZEBO and V-REP
CO5: Program a Robot using ROS and its tool boxes

TEXT BOOK

1. Lentin Joseph, Jonathan Cacace, “Mastering ROS for Robotics Programming”, Second Edition, Packt Publishing, 2018.

REFERENCES

1. Lentin Joseph, Aleena Johny, “Robot Operating System (ROS) for Absolute Beginners Robotics Programming Made Easy”, Second Edition, Apress, 2022.
2. Lentin Joseph, “ROS Robotics Projects”, Packt publishing, 2017