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 Duration 21 hours

Course Outline

Foundations of ROS 2 and Autonomous Navigation

  • An examination of ROS 2 architecture and its core capabilities.
  • Gaining insight into navigation systems within robotics.
  • Preparing the ROS 2 development environment.

Managing Sensors and Data Acquisition

  • Connecting LiDAR and camera sensors to the system.
  • Strategies for collecting and processing sensor data.
  • Visualizing sensor outputs through Rviz.

Core Concepts in Mapping and Localization

  • Understanding the principles behind SLAM.
  • Implementing both 2D and 3D mapping techniques.
  • Applying localization methods such as AMCL.

Path Planning and Obstacle Avoidance Strategies

  • An investigation into various path planning algorithms.
  • Methods for dynamic obstacle detection and avoidance.
  • Validating navigation capabilities in simulated settings.

Leveraging Gazebo for Simulation

  • Configuring Gazebo simulations integrated with ROS 2.
  • Testing robot models and associated navigation stacks.
  • Evaluating performance within virtual environments.

Implementing SLAM and Navigation on Physical Robots

  • Establishing connections between ROS 2 and physical hardware.
  • Performing calibration of sensors and actuators.
  • Conducting real-time navigation experiments.

Debugging and Performance Optimization

  • Troubleshooting common navigation issues in ROS 2.
  • Refining SLAM algorithms for improved efficiency.
  • Adjusting navigation parameters for optimal performance.

Conclusion and Future Directions

Requirements

  • A solid grasp of fundamental robotics principles.
  • Proficiency in working with Linux-based operating systems.
  • Foundational programming skills in either Python or C++.

Intended Audience

  • Robotics engineers.
  • Automation developers.
  • Professionals in research and development focused on autonomous systems.

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