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Updated in [October 18th, 2023]

What does this course tell? (Please note that the following overview content is from the original platform) UPDATEOCT 9, 2020: Iadded the installation instruction of Turtlebot3 on ROSNoeticOverviewLocalization, mapping, and navigation are fundamental topics in the Robot Operating System (ROS) and mobile robots. However, it is very complex to learn. Usually, beginners find it difficult to even know where to start. The typical tutorials in ROS give high-level information about how to run ROS nodes to performs mapping and navigation, but they do not give any details about the technical aspects. Some other courses focus more on the technical aspects, which is mathematically complex but does not give a clear link to how these concepts are tied with the ROSnavigation stack. This course addresses this gap and follows a practical approach to introduce new learners to mobile robot navigation foundations and how it is implemented in ROS. The course is designed to introduce you to the world of mobile robot navigation in a quick and effective manner. In this course, Ipresented detailed coverage of the most important package in ROS for navigation: the tf package! Without understanding this package, it will be difficult to deeply understand how navigation works inROS. Although there are tf tutorials, the tf package heavily relies on important theoretical concepts not presented in ROStutorials. This course provides a systematic introduction to the necessary theoretical background and complement with demonstration and programming activities of the tf package utilities and API. This course assumes that you have some background on the main concepts of Robot Operating System (ROS), such as ROS nodes, ROS topics, ROS services, and an understanding of the basic notion of motion with ROS. If you do not have these skills, I would recommend first enroll in my course ROS for Beginners: Basics, Motion, and OpenCV to get the necessary background. My experience with ROSIhave been programming with ROS for many years both in academic and industrial projects. Iam very passionate to develop programs with ROS. Ihave also been teaching ROS at the University and providing training programs. Iam the R&D Director of Gaitech Robotics, and Ihave developed many ROS packages for robots and drones. Ihave been leading international scientific activities around ROS, and in particular, I am the editor of five volumes of books with Springer entitled Robot Operating System, The Complete Reference. Igained a lot of experience in what difficulties new users encounter to learn ROS and this contributed to pin right to the point addressing these problems through the different lectures of the course. We considered the value of this course from many aspects, and finally summarized it for you from two aspects: skills and knowledge, and the people who benefit from it: (Please note that our content is optimized through artificial intelligence tools and carefully reviewed by our editorial staff.) What skills and knowledge will you acquire during this course? During this course, learners will acquire the following skills and knowledge: 1. Understanding of mobile robot navigation foundations: The course provides a practical approach to introduce learners to the world of mobile robot navigation. It covers the fundamental concepts and principles behind navigation in ROS. 2. Knowledge of the tf package: The tf package is a crucial component for navigation in ROS. The course offers detailed coverage of this package, including theoretical background, demonstration, and programming activities. Learners will gain a deep understanding of how the tf package is used in navigation. 3. Technical aspects of localization, mapping, and navigation: The course goes beyond high-level information and delves into the technical aspects of localization, mapping, and navigation. Learners will learn the mathematical complexities associated with these concepts and how they are implemented in ROS. 4. Practical programming skills: Through demonstration and programming activities, learners will develop practical programming skills related to localization, mapping, and navigation in ROS. They will gain hands-on experience in using the tf package utilities and API. 5. Integration of theoretical concepts with ROS navigation stack: The course bridges the gap between theoretical concepts and the ROS navigation stack. Learners will understand how the theoretical concepts are tied to the practical implementation in ROS. 6. Background knowledge of ROS: The course assumes that learners have some background knowledge of ROS, including concepts such as ROS nodes, topics, services, and basic motion with ROS. If learners lack these skills, it is recommended to enroll in the course "ROS for Beginners: Basics, Motion, and OpenCV" to acquire the necessary background. Overall, this course provides a comprehensive and practical understanding of localization, mapping, and navigation in ROS. Learners will gain the skills and knowledge needed to work with mobile robot navigation systems effectively. Who will benefit from this course? Robotics Enthusiasts: This course is suitable for individuals who have a keen interest in robotics and aim to expand their knowledge and skills in ROS, particularly in the context of mobile robot navigation. Students and Researchers: Students and researchers in the field of robotics, mechatronics, or autonomous systems will find this course valuable for gaining a comprehensive understanding of navigation in ROS. Robotics Engineers: Robotics engineers who are either new to ROS or looking to enhance their expertise in navigation, localization, and SLAM within the ROS framework can benefit from this course. Educators: Educators and instructors who teach robotics or ROS-related courses will find this course beneficial for structuring their teaching on the complex topics of localization, navigation, and SLAM.

Course Syllabus

Course Overview

ROS Navigation Introductive Demo

2D Frames, Transformations and Localization

3D Frames, Transformations and Localization

Orientation in 3D Space

The TF Package: Frames, Transformations and Localization in ROS Explained

Map-based navigation

Configuration and Tuning of the Navigation Stack Parameters

Reactive Navigation