Overview

The formation of human resources in cutting-edge technologies in the control of robotic systems, as is the case with Robot Operating Systems (ROS), contributes clearly to the digital transition. On the other hand, robotics is a critical component in several of the areas covered by the project, such as logistics and transportation. In this way, this advanced course intends to contribute to the goals of the Nexus agenda related to transport and logistics.

Learning outcomes

• By the end of the advanced course, each learner should be able to:
• Program advanced robotic systems using the Robot Operating System (ROS) library;
• Configure simulated environments for testing Gazebo solutions;
• Use programming tools for planning and executing mobile robot trajectories;
• Develop perception systems for logistics applications.

Content

Module 1: ROS Architecture

Topics like ROS Master will be addressed, we and nodelets ROS. Communications between processes: serialization, deserialization, messages, topics, services, parameters and actions.

Module 2: Description of robot in ROS environment

Will focus themes such as robot description files (urdf, xacro), trees of shared geometrical transformations, or direct kinematics from the robot description and joint values.

Module 3: Visualization and inspection tools

The focus will be on visualizing sensory and robot data and creating bag files, compression and decompression of information.

Module 4: Simulation

The Gazebo simulation environment and its main features will be focused.

Module 5: Sensors

Sensor data acquisition and sensory data processing will be studied

Module 6: Location and Navigation

SLAM and trajectory planning and execution techniques will be addressed.