ROS concepts – Preliminaries – Publishing a topic – Subscribing to a topic – Latched topics – Defining message types – Mixing Publishers and subscribers – Services – Defining a service – Implementing a service – Using a service – Actions – Definition of an Action – Implementing a basic action server – Robots model and Simulators – Sub systems – Actuation: Mobile platform – Actuation manipulator arm – Cameras and Scanners – Wheeled Mobile Robot Navigation and Control

Course Objectives:

1. To provide an introductory understanding on robotic operating system and gazebo simulation environment.
2. To introduce the students with module developments in ROS for mobile robot control, navigation and environment mapping.
3. To introduce the students with module developments in ROS for industrial robot control, path planning and trajectory planning.

Course Outcomes:

Upon completion of the course, students will be able to
CO1: Apply the principles of ROS for module development of robotic systems.
CO2: Analyse various robotic systems using ROS integrated simulation platforms.
CO3: Apply the knowledge of robotic system and ROS for mobile robot control, navigation and environment mapping using ROS simulators.
CO4: Develop prototypical robotic systems using ROS for real-time problems

CO-PO Mapping

1. Joseph, Lentin, and Jonathan Cacace. Mastering ROS for Robotics Programming: Design, build, and simulate complex robots using the Robot Operating System. Packt Publishing Ltd, 2018.
2. Programing Robots with ROS’, M. Quigley, B. Gerkey, and W. D. Smart, Oreilly Publishers, 2015.
3. Koubâa, Anis, ed. Robot Operating System (ROS). Vol. 1. Cham: Springer, 2017.
4. ‘ROS Robotics by example’, Fairchild & Harman, PACKT Publishing, 2016