Formulas and Vehicles
Overview and Concept
Class Overview
General Information
Format and Schedule
Registration
Concepts
Keywords
Hardware Architecture
Localization Module
Target Audience
Installation and Setup
Linux Terminal
Open a Terminal
Cook Delicious Copy-Pasta
Autocompletion
Quit Running Commands/Programs
Entering Passwords
Use The History
Further Readings
Install Ubuntu
Prepare Your Disk Partition
Create A Bootable USB stick
Disable Fast Startup
Disable Secure Boot
Boot From Ubuntu USB Stick
Start The Installation Wizard
Some Convenience Features
Virtual Machine
Troubleshooting
Prepare the Shell
Preface
Installation
Useful Hints
Auto Suggestions
Traversing the History
Auto Complete
Install ROS
Preparation
Installation
A Brief Test
Workspace Setup
Create the Structure
The installation of the pre-built packages
“ros2” workspace
Check
.zshrc
file
Final Check
IDE Setup
What is an IDE
Installation
VS Code Project Configuration
Open the Workspace
Useful Hints
Integrated Terminal
Formatting
Start The Simulation
Tutorials and Resources
The Robot
Thruster Configuration
Available Sensors
Inertial Measurement Unit
Pressure Sensor
Cameras
Tutorials
ROS Package
Create A Package
Write A Node
Run A Node
ROS Launch Setup
Prerequisites
Let’s Start
Launch a Node
What comes next?
Pushing Nodes into Namespaces
Using Launch Arguments
Including Launch Files
ROS Publisher and Namespaces
Namespaces
Write a Publisher
BlueROV
ROS Nodes: Subscribing and Checking Connections
Get Data from Topics
Inspecting the Setup
Regarding Control
Regarding Sensor Data
Real-Time Plotting
Getting Data In There
Adding Splits
Parametric Plots
Multiple Tabs
Saving and Loading the Layout
Plotting Bag File Data
Scaling
Removing Lines
Bag File Plotting
Record a Bag File
Prerequisites
Recording the Bag
Inspecting the Bag File
Extract Data From a Bag File
Workflow
Load the Bag File
Create a Preview Plot
Crop the Data to a meaningful Time-Span
Export the Plot Data
Create Beautiful Plots in LaTex
Dynamic Reconfigure
Prerequisites
Scenario
Preparation
Write the Code
Boilerplate
Declare Parameters
Handle Parameter Changes
Use Paramter Files
Use rqt to Change Parameters
Lab Workflow
Checklist
At the Lab
Updating
ROS Resources
ROS Tutorials
ROS Concepts
Visualization Tools
Plotjuggler
RViz
Recording and playing back data
Coordinate Transformations
Messages
ROS Logger
Installing additional Packages
Additional Stuff
Assignment Support
Python 101
Get the template of the Jupyter Notebook
Open the Notebook
Assignment 1
Get the Template
The Nodes Explained
The Launch Files
Get Going
Assignment 1a
Assignment 1b
Additional Notes
Assignment 2
Install Dependencies
New Simulation Launch Files
Template Package
Get the Template
Launch Files
Yaw Controller
Kalman Filter
Ranges Debugger
The Distance Sensor
Hints on the Controllers
Additional Notes
Quaternions
Final Project
Install Dependencies
Template Package
Get the Template
Launch the Project
Restarting the Algorithm
Scenario Description
Structural Overview
Provided Nodes
Mapper
Path Planner
Path Follower
Position Controller
Yaw Controller
Rviz
Kalman Filter: Depth-Estimator Example
Download the Code
Open the Notebook
Troubleshooting
What You Should Try First
I cannot run my node!
Problem
Solution
Problem
Solution
I cannot start the simulation!
Problem
Solution
FAQ
How to Compute Time Differences in ROS?
Very Short Answer
Detailed Answer
Why Don’t We Use the Time Library?
Formulas and Vehicles
Index
Edit on GitHub
Index