ROS for Beginners: Basics/ Motion/ and OpenCV

About Course

Learn the fundamentals of ROS, the Robot Operating System, with this comprehensive beginner’s course. This free course is a best-seller on Udemy, taught by an experienced robotics expert with years of experience in both academic and industrial settings.

This course is designed to provide a focused and practical introduction to ROS basics, covering essential concepts like topics, services, messages, and nodes. You’ll learn to program in both C++ and Python, gaining the knowledge and skills needed to build your first ROS projects.

The course is divided into three key sections:

ROS Basics and Foundation: Get a solid understanding of the core principles of ROS, including topics, services, messages, and nodes.
Motion in ROS: Learn how to make robots move, develop different trajectories, and understand the basics of robot kinematics and motion representation.
Perception in ROS: Explore the world of robotic perception with OpenCV. Discover how robots “see” their environment using cameras, collect image data, and process it using OpenCV.

In addition, you’ll learn how to use Arduino boards and sensors with ROS, allowing you to integrate them into your robotics applications.

This course provides hands-on activities and real-world examples, helping you solidify your knowledge and confidently embark on your robotics journey.

Take advantage of this opportunity to learn from a renowned ROS expert and master the essentials of this powerful robotics platform. This course is completely free, available on Theetay.

The course is available on platforms like Udemy, Udacity, Coursera, MasterClass, NearPeer, and more. This free course is your gateway to a world of robotic possibilities!

Course Content

Introduction

A Message from the Professor
What is this course about

05:35
About the Instructor

01:18
Course Material Download Link

00:00

ROS  How did it revolutionize robotics software development

Introduction

01:37
Why did I decided to use ROS in my work

05:55
The Robot Life Cycle

02:51
ROS Impact

01:30
Self-Driving Car Use Case

02:33
ROS Evolution

01:10
ROS Distributions (version) over Time

02:34
ROS Architecture

01:45
ROS Basic Concepts and Demo

03:46
ROS Communication Paradigms (TopicsServicesActionLib)

04:32
ROS Path Planning and Navigation

02:22
Limitation of ROS

02:22
ROS2

07:28
(OPTIONAL) Some Contributions to ROS

17:21

(NEW) Setting your environment with ROS Noetic

(LEGACY) Installation and Environment Setup

Create a ROS Workspace and a ROS Package

(NEW) ROS Computation Graph

What is a ROS Computation Graph

02:41
ROS Computation Graph Life Cycle

01:15
Start the ROS Master Node

01:40
How to run a new node (executable) in ROS

01:58
What happens when we start a new ROS node

01:48
Adding a teleop node to make the robot move

02:12
Get the information of a node and the information of a topic

02:48
The content of the motion message tutle1cmd_vel

02:08
Understand the structure of a ROS message

02:48
How to show the message structure on ROS command line

02:17
Publish a message on a topic from a command line

01:39
Visualize the ROS Computation Graph using ros_rqt_graph

00:42
Demo Starting Turtlesim and checking information about the nodes and topics

01:40
Demo Showing the content of ROS messages published

03:57
Demo Understand the pose topic

01:23
Demo What is the benefit of using ROS

00:05
Demo Publishing a message from a command line using rostopic pub

06:45
Demo rqt_graph

00:44
(OLD) The ROS Master Node (OPTIONAL – KEPT FOR STUDENT NOTES)

02:53
(OLD) ROS Computation Graph Nodes Topics (OPTIONAL – KEPT FOR STUDENT NOTES)

20:55

ROS Topics

ROS Topics Overview

04:50
Question what happens if ROS Master crashes

01:37
Guidelines to Write a Publisher and a Subscriber in ROS

02:22
Overview of the TalkerListener Application (ROS Hello World Example)

01:23
Write a Publisher Node in Python

05:48
Write a Subscriber Node in Python

03:50
(DEMO) TalkerListener in Python

03:49
Write a PublisherSubscriber Node in C++

11:27
(DEMO) TalkerListener in C++

08:09
Do-It-Yourself Assignment Explanation

07:56
(OLD-OPTIONAL) Write a ROS Publisher and Subscriber in C++

32:15
(OLD-OPTIONAL) Write a ROS Publisher and Subscriber in Python

10:34

ROS Messages

ROS Services

(NEW) Motion in ROS (updated with ROS Noetic)

Note about this updated section

00:32
Cleaning Application Overview

06:55
Step 1. Understand Topics and Messages Used in the Application

05:02
Import the Libraries in Python and C++

01:19
The Divide and Conquer Approach

01:31
Move Straight Line (C++Python)

08:40
(DEMO) Move Straight Line (C++Python)

08:03
Rotate Motion (C++Python)

06:06
(Demo) Rotate Motion (C++Python)

04:23
(Demo) Rotate Motion (C++Python)

04:23
Go-To-Goal Behavior

09:56
(Demo) Go-To-Goal Behavior

04:36
Set Desired Orientation

02:01
(Demo) Set Desired Orientation

01:28
Spiral Trajectory

00:47
Spiral Trajectory Demo

02:53
Putting All Together The Cleaning Application

06:11
Running Multiple Nodes with a Launch File

03:23

Appendix Motion in ROS (old videos – but still applicable)

Cleaning Application Overview

03:22
Moving in a Straight Line

24:54
Rotate Left and Right

19:18
Go to Goal Location

07:40
Spiral Control and Clearning Application

09:40
Assignment Solution Linear Motion in ROS (Python)

08:11
Assignment Solution Rotation Motion in ROS (Python)

04:24
Assignment Solution Go-to-Goal Motion in ROS (Python)

07:02
Turtlebot 2 Robot Motion

08:50

ROS Tools and Utilities

Perception I Computer Vision in ROS with OpenCV

OpenCV Overview

04:18
Install OpenCV for ROS

02:24
OpenCV OpenSave Image Files (Python)

06:10
OpenCV Pixels and Image Structure (Python)

08:01
OpenCV Image Encoding (Python)

07:18
OpenCV Video Streams Input (Python)

04:46
OpenCV Drawing Shapes

02:59
CvBridge Bridging OpenCV and ROS

07:45
Simple and Adaptive Thresholding in OpenCV

09:47
Color Filtering in OpenCV (Tennis Ball use case)

11:17
Contours Detection and Processing in OpenCV

15:40
Tennis Ball Detection using OpenCV

09:44
OpenCV (C++)  Video InputOutput

04:45
OpenCV (C++)  Open and Save Images

04:24
OpenCV (C++)  CvBridge Bridging Images between OpenCV and ROS

11:36

Perception II Laser Range Finders (Laser Scanner)

What is a Laser Range Finder

03:36
Laser Range Finders Characteristics

04:37
Commercial Laser Range Finder Devices

06:58
Laser Scanner Devices used in Demonstrations

01:12
Connect Asus Live Pro RGBD Camera as a Laser Scanner

16:35
Connect Hokuyo URG 4LX Laser Scanner with ROS

11:06
Save Laser Scan Messages into a Bag File and Replay Them

06:07
Write a ROS Node (Python) as a Subscriber to a Laser Scanner

10:16
Write a ROS Node (C++) as a Subscriber to a Laser Scanner

11:11

rosserial Connecting new Hardware (Arduino) with ROS

What is rosserial

07:04
What is Arduino

05:56
Arduino Uno Board

02:18
Arduino IDE Overview

05:04
Install and Setup Arduino IDE

02:49
Range Sensor and Connection Setup

06:37
Programming The Ultrasonic Sensor with Arduino

05:35
Install rosserial libraries

03:41
rosserial Hello World application Arduino ROS Publisher

04:55
rosserial Blink application Arduino ROS Subscriber

03:32
rosserial using Arduino Ultrasonic Range Sensor

09:42

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About Course

What Will You Learn?

Course Content

Introduction

A Message from the Professor

What is this course about

About the Instructor

Course Material Download Link

ROS How did it revolutionize robotics software development

Introduction

Why did I decided to use ROS in my work

The Robot Life Cycle

ROS Impact

Self-Driving Car Use Case

ROS Evolution

ROS Distributions (version) over Time

ROS Architecture

ROS Basic Concepts and Demo

ROS Communication Paradigms (TopicsServicesActionLib)

ROS Path Planning and Navigation

Limitation of ROS

ROS2

(OPTIONAL) Some Contributions to ROS

(NEW) Setting your environment with ROS Noetic

Install ROS Noetic on Ubuntu 20.04

Create your catkin workspace with ROS Noetic

Clone the right GitHub Repository for the ROS Noetic distribution

Testing your installation with C++ nodes

Testing and fixing installation with Python nodes

(LEGACY) Installation and Environment Setup

(OPTIONAL) ROS Installation Tips

Install a Ubuntu Virtual Machine on Mac-OS using VM-Fusion

UPDATE NOTE ABOUT ROS DISTRIBUTION

Install ROS (Melodic) on Ubuntu (Bionic)

Which Integrated Development Environment (ID) to use with ROS

Create a ROS Workspace and a ROS Package

Section Note Update

ROS Workspace and ROS Package (Setting up your ROS projects)

Wrapping up

(LEGACY) Setup ROS (Kinetic+Melodic) Project of the course using GitHub

(NEW) ROS Computation Graph

What is a ROS Computation Graph

ROS Computation Graph Life Cycle

Start the ROS Master Node

How to run a new node (executable) in ROS

What happens when we start a new ROS node

Adding a teleop node to make the robot move

Get the information of a node and the information of a topic

The content of the motion message tutle1cmd_vel

Understand the structure of a ROS message

How to show the message structure on ROS command line

Publish a message on a topic from a command line

Visualize the ROS Computation Graph using ros_rqt_graph

Demo Starting Turtlesim and checking information about the nodes and topics

Demo Showing the content of ROS messages published

Demo Understand the pose topic

Demo What is the benefit of using ROS

Demo Publishing a message from a command line using rostopic pub

Demo rqt_graph

(OLD) The ROS Master Node (OPTIONAL – KEPT FOR STUDENT NOTES)

(OLD) ROS Computation Graph Nodes Topics (OPTIONAL – KEPT FOR STUDENT NOTES)

ROS Topics

ROS Topics Overview

Question what happens if ROS Master crashes

Guidelines to Write a Publisher and a Subscriber in ROS

Overview of the TalkerListener Application (ROS Hello World Example)

Write a Publisher Node in Python

Write a Subscriber Node in Python

(DEMO) TalkerListener in Python

Write a PublisherSubscriber Node in C++

(DEMO) TalkerListener in C++

Do-It-Yourself Assignment Explanation

(OLD-OPTIONAL) Write a ROS Publisher and Subscriber in C++

(OLD-OPTIONAL) Write a ROS Publisher and Subscriber in Python

ROS Messages

Create Custom ROS Messages Overview

(Demo) Create a Custom ROS Message Implementation

(DEMO) IoTSensor Custom Message PublisherSubscriber Applications

ROS Services

What is a ROS Service

ROS  How did it revolutionize robotics software development

OpenCV (C++)  Video InputOutput

OpenCV (C++)  Open and Save Images

OpenCV (C++)  CvBridge Bridging Images between OpenCV and ROS