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Course Outline

Introduction to ROS-Industrial (ROS-I)

ROS-I Features and Architecture Overview

Installing and Configuring ROS-I

Establishing the ROS-I Development Environment

Overview of Unified Robot Description Formats (URDFs) on ROS-I

Utilising Interface Libraries (Drivers) on ROS-I

Tracking Coordinate Frames on ROS-I with TF

Motion Planning on ROS-I

  • MoveIt! Application
  • RViz
  • C++

Developing a Simple MoveIt! Application

Configuring a New Robot with ROS-I

  • Creating and Verifying a URDF
  • Creating and Updating a MoveIt! Package for ROS-I
  • Testing on the ROS-I Simulator

Engaging with Descartes on ROS-I

  • Descartes Architecture
  • Descartes for Robotic Routing
  • Descartes for Robotic Blending
  • Trajectory Points on Descartes
  • Overview of Descartes Path Planning

Developing a Simple Descartes Application

Engaging with Perception on ROS-I

  • Camera Calibration
  • Working with 3D Cameras and 3D Data
  • Overview of Perception Processing Pipeline
  • Perception Tools

Developing a Simple Perception Application

Executing Path Planning on ROS-I

Constructing a Perception Pipeline on ROS-I

Troubleshooting

Summary and Conclusion

Requirements

  • Foundational experience with Linux
  • Basic proficiency in C++ programming
  • Preliminary familiarity with ROS
 14 Hours

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