Build and Control with your voice a Real Robot with ROS 2

What you'll learn

Create a Real Robot

Mastering ROS 2, the last Robot Operating System Version

Robotics Theory

Use Alexa to actuate the Robot

Programming Arduino for Robotics Applications

Create a Digital Twin

Simulate the robot in Gazebo

Robot Kinematics

Trajectory Planning with MoveIt 2

Requirements

Basic knowledge of Python or C++

Basic knowledge of Linux

No prior knowledge of ROS or ROS 2 required

No prior knowledge of Robotics theory required

No hardware required. All the course can be followed also using only the PC

Description

Would you like to learn ROS 2 , the second and last version of Robot Operating System by building a real robot?The philosophy of this course is the Learn by Doing and quoting the American writer and teacher Dale Carnegie Learning is an Active Process. We learn by doing, only knowledge that is used sticks in your mind.In order for you to master the concepts covered in this course and use them in your projects or, why not, also in your future job, I will guide you through the learning of all the functionalities of ROS both from the theoretical and practical point of view.Each section is composed of three parts:Theoretical explanation of the concept and functionalityUsage of the concept in a simple Practical exampleApplication of the functionality in a real RobotI almost forgot! We need one more, essential and exciting part of this course for your active learning!Experiment, Develop and Test your ideas in the Robot (real or simulated in your PC)In each Section of the course, I'll introduce you a new concept and then we will use it to add new functionalities to the robot:Introduction to the CourseSetup the Environment: Install Ubuntu and ROS Noetic Introduction to ROS: What is ROS and why is so important in Robotics. Create the first ROS node ROS Publisher/SubscriberDigital Twin: Use a simulator to develop and test the functionalities of the robot without the need of any hardware device URDFGazeboParametersRViz2Launch FilesControl: How to create a Control System for Robot actuatorsTimerServicesros2_controlKinematics: Use the package MoveIt! for the Trajectory PlanningTF2MoveIt! 2Application: Interface and make available all the functionalities of the robot to other software to create more complex applications and functionalities ActionsAlexa: Use the Alexa Voice Assistant to actuate the robot with the voiceBuild the Robot: Build the real robot and migrate all the functionalities from a simulated robot to a real oneArduino IDESerial CommunicationConclusion and Summary of the courseTo facilitate your learning and help you join the robotic world, the code lessons are available both in C++ and in Python and you can decide which language to use during the course.Anyway, I would suggest you to follow both in order to complete your Robotics Software Developer profile!

Overview

Section 1: Introduction

Lecture 1 Course Motivation

Lecture 2 Meet your Teacher

Lecture 3 Get the Most out of the Course

Lecture 4 Project Architecture

Lecture 5 Course Presentation

Lecture 6 Course Material

Section 2: Setup

Lecture 7 Install Ubuntu on Virtual Machine

Lecture 8 Install Ubuntu on Dual Boot

Lecture 9 Install ROS 2 on Ubuntu

Lecture 10 Configure the Development Environment

Section 3: Introduction to ROS 2

Lecture 11 Why a Robot Operating System?

Lecture 12 What is ROS 2

Lecture 13 Why a NEW Robot Operating System?

Lecture 14 ROS 2 Architecture

Lecture 15 Hardware Abstraction

Lecture 16 Low-Level Device Control

Lecture 17 Architecture of a ROS 2 Application

Lecture 18 Messaging Between Process

Lecture 19 Package Management

Lecture 20 Create and Activate a Workspace

Lecture 21 Simple Publisher

Lecture 22 Simple Publisher

Lecture 23 Simple Subscriber

Lecture 24 Simple Subscriber

Section 4: Digital Twin

Lecture 25 Robot Description

Lecture 26 URDF

Lecture 27 Create the URDF Model

Lecture 28 Complete the URDF Model

Lecture 29 RViz 2

Lecture 30 Parameters

Lecture 31 Parameters

Lecture 32 Parameters

Lecture 33 ROS 2 Parameter CLI

Lecture 34 Visualize the Robot

Lecture 35 Launch Files

Lecture 36 Visualize the Robot with Launch Files

Lecture 37 Gazebo

Lecture 38 Simulate the Robot

Lecture 39 Launch the Simulation

Section 5: Control

Lecture 40 ROS 2 Control

Lecture 41 Control Types

Lecture 42 ros2_control with Gazebo

Lecture 43 YAML Configuration File

Lecture 44 Configure ros2_control

Lecture 45 Launch the Controller

Lecture 46 ros2_control CLI

Section 6: Kinematics

Lecture 47 Robot Kinematics

Lecture 48 Pose of a Robot Arm

Lecture 49 Translation Vector

Lecture 50 Elementary Rotations

Lecture 51 Rotation Matrix

Lecture 52 Transformation Matrix

Lecture 53 Forward Kinematics

Lecture 54 TF2 Library

Lecture 55 TF2 Tools

Lecture 56 ROS 2 Services

Lecture 57 Service Server

Lecture 58 Service ServerService Client

Lecture 61 Service Client

Lecture 62 Angle Representations

Lecture 63 Euler Angles

Lecture 64 Quaternion

Lecture 65 Euler to Quaternion Service

Lecture 66 Euler to Quaternion Service

Lecture 67 Inverse Kinematics

Lecture 68 MoveIt! 2

Lecture 69 Configure MoveIt! 2

Lecture 70 Launch MoveIt! 2

Section 7: Application

Lecture 71 Application Layer

Lecture 72 ROS 2 Actions

Lecture 73 Create an Action Server

Lecture 74 Create an Action Server

Lecture 75 Create an Action Client

Lecture 76 Create an Action Client

Lecture 77 MoveIt! 2 API

Lecture 78 MoveIt! 2 API

Lecture 79 Task Server

Lecture 80 Task Server

Section 8: Alexa Integration

Lecture 81 Alexa Skill

Lecture 82 Develop Alexa Skills

Lecture 83 Integrate Alexa Skills

Lecture 84 Interface the Robot with Alexa

Lecture 85 Voice Interaction Model

Lecture 86 Launch the Simulation of the Robot

Section 9: Build the Robot

Lecture 87 Mechanics and Electronics

Lecture 88 Arduino and ROS 2

Lecture 89 Publisher Node with Arduino

Lecture 90 Publisher Node with Arduino

Lecture 91 Publisher Node with Arduino

Lecture 92 Test Publisher Node with Arduino

Lecture 93 Subscriber Node with Arduino

Lecture 94 Subscriber Node with Arduino

Lecture 95 Subscriber Node with Arduino

Lecture 96 Test Subscriber Node with Arduino

Lecture 97 Servomotors with Arduino

Lecture 98 ROS 2 Lifecycle Nodes

Lecture 99 Create a Lifecycle Node

Lecture 100 ROS 2 Lifecycle CLI

Lecture 101 ros2_control Interface - Declaration

Lecture 102 ros2_control Interface - Definition

Lecture 103 ros2_control Interface - Plugin

Lecture 104 ros2_control Interface - Configure

Lecture 105 Robot Control with Arduino

Lecture 106 Launch the Complete Robot

Section 10: Conclusions

Lecture 107 Recap

Lecture 108 What's next?

Makers and Hobbists keen on robotics,Software developers taht wants to learn ROS 2 and Robotics,Students or Engineers that wants to learn how to buid a robot from scratch,Developers that already knows ROS and that want to use it in a real world application,ROS Developers that want to learn and migrate to ROS 2