ROS for Beginners II: Localization/ Navigation and SLAM

About Course

Learn how to implement localization, mapping, and navigation in ROS with this comprehensive course from Udemy. This course is designed to help beginners understand the fundamental concepts of mobile robot navigation and how they are implemented in ROS.

You will learn about the tf package, which is essential for understanding how navigation works in ROS. This course will provide you with a systematic introduction to the necessary theoretical background and complement it with demonstration and programming activities of the tf package utilities and API.

This course is free and covers topics such as:

Localization
Mapping
Navigation
SLAM
The tf package

This course is perfect for anyone who wants to learn about ROS for mobile robot navigation. It is taught by an experienced ROS developer with a passion for teaching.

This course is completely free of cost.

Enroll today and start learning ROS for mobile robot navigation!

Theoretical foundations of 2D and 3D localization
Transformation between frames in 2D and 3D Spaces
The powerful feature of the tf package to represent frames and perform transformation and localization
Theoretical foundation of localization and mapping (SLAM)
Background on navigation concepts (global path planning, local path planning, collision avoidance)
Difference between Map-Based Navigation and Reactive Navigation
The navigation stack of ROS (move_base, amcl, gmapping)

Course Content

Course Overview

A Message from the Professor
What is this course about

03:08
About the instructor

01:17
(ROS Noetic) Install Turtlebot3 Simulator

06:19
Turtlebot3 Simulation Enviornments

05:19
Simple Turtlebot3 Demo

03:35
Get the code from GitHub Repository

01:40
Course Material Download Link

00:00

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

The tf package overview

00:54
What is TF in ROS

02:05
URDF Language for the Description of Frames and Transformation in a Robot Model

01:54
Why TF is important

02:25
Overview of tf package utilities

04:15
Convert Orientation between Quaternion and Roll-Pitch-Yaw using TF

05:56
Reading the Yaw of a Robot from its Orientation in Quaternion

07:09
The tf package command line and utilities

03:10
(PRE-ROS-NOETIC) view_frames command line

02:24
(NEW in ROS Noetic) Note about view_frames

01:06
more about view_frames

02:01
tf_echo command line

02:33
tf_monitor command line

00:45
static transform publisher

03:37
Broadcast a transformation in a ROS Node

03:29
Listen to a transformation in a ROS Node

02:41

Map-based navigation

Mobile Robot Navigation Overview

01:31
Map-based Navigation Overview

05:16
SLAM Demonstration and Discussions

07:56
Understand the structure of Maps in ROS

03:33
Understand ROS Nodes and Launch File used for SLAM

06:44
Map-based Navigation Demo

06:19
The Recovery Behavior

02:15
Understand the navigation launch file

05:10
Writing a ROS Node for Robot Navigation (Python)

12:00
Understand the Recovery Behaviors of the Navigation Stack

04:51
Robot Setup to Support the ROS Navigation Stack

07:34

Configuration and Tuning of the Navigation Stack Parameters

Reactive Navigation

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About Course

What Will You Learn?

Course Content

Course Overview

A Message from the Professor

What is this course about

About the instructor

(ROS Noetic) Install Turtlebot3 Simulator

Turtlebot3 Simulation Enviornments

Simple Turtlebot3 Demo

Get the code from GitHub Repository

Course Material Download Link

ROS Navigation Introductive Demo

Navigation Demo Intro

Start the Turtlebot3 Simulator

Setting the initial location of the robot

Frames

Location of the robot in different frames

How orientation is represented in 3D space

Navigation Example

2D Frames, Transformations and Localization

Section Overview and Learning Outcomes

Pose of a robot in a frame

Dealing with Multiple Frames

Transformations Overview

2D Translation

2D Rotation

The General Transformation Matrix Translation + Rotation

Illustrative Example on 2D Transformation

3D Frames, Transformations and Localization

3D Frame Introduction

The Right-Hand Rule

3D Frames and Transformations

3D Transformation Example

Orientation in 3D Space

How orientation is represented in 3D Space

The Three-Angle Representation

The Arbitrary Vector Representation

Quaternions

The TF Package Frames, Transformations and Localization in ROS Explained

The tf package overview

What is TF in ROS

URDF Language for the Description of Frames and Transformation in a Robot Model

Why TF is important

Overview of tf package utilities

Convert Orientation between Quaternion and Roll-Pitch-Yaw using TF

Reading the Yaw of a Robot from its Orientation in Quaternion

The tf package command line and utilities

(PRE-ROS-NOETIC) view_frames command line

(NEW in ROS Noetic) Note about view_frames

more about view_frames

tf_echo command line

tf_monitor command line

static transform publisher

Broadcast a transformation in a ROS Node

Listen to a transformation in a ROS Node

Map-based navigation

Mobile Robot Navigation Overview

Map-based Navigation Overview

SLAM Demonstration and Discussions

Understand the structure of Maps in ROS

Understand ROS Nodes and Launch File used for SLAM

Map-based Navigation Demo

The Recovery Behavior

Understand the navigation launch file

Writing a ROS Node for Robot Navigation (Python)

Understand the Recovery Behaviors of the Navigation Stack

Robot Setup to Support the ROS Navigation Stack

Configuration and Tuning of the Navigation Stack Parameters

Navigation Stack Tuning Problem Statement

Tuning MaxMin Velocities and Accelerations of the Robot

Global Planner Parameter Tuning

Local Path Planner Overview

The Dynamic Window Approach (DWA) Algorithm

Tuning the Simulation Time of the DWA Algorithm

DWA Trajectory Scoring

Tuning the DWA Trajectory Scores

Reactive Navigation

Overview

Overview of the Follower Application