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ROS navigation and location (ROS navigation package basic concepts,
characteristics and navigation package examples)
同步定位与地图构建
Simultaneous localization and map building
基于地图的机器人导航
Robot navigation based Map
Moveit! 与远程控制
Moveit! And remote control
复习与项目答辩
Review and dissertation of project
1. ROS 的环境配置、参数配置与基本控制(第 1 周,2 节课)
1. Environment configuration, parameter configuration and basic control of ROS (week 1, 2 hours)
2. 使用 rqt_console 和 roslaunch,使用 rosed 编辑 ROS 中的文件,创建 ROS 消息和 ROS 服务(第 2 周,2 节课)
2. Use rqt_console and roslaunch, edit files,
create ROS message and service (week2, 2 hours)
3. 创建 ROS 消息、服务、发布者、订阅者,记录并回放数据包(第 3 周,2 节课)
3. Create ROS msg, srv, publisher, subscriber, record and playback data. (week 3, 2 hours)
4. ROS 坐标转换系统(tf)(ROS TF 包及基础概念和程序编写)(第 4 周,2 节课)
4. ROS coordinate transformation (ROS TF package and basic concepts and programming) (week 4, 2 hours)
5. 使用并开发 ROS Rviz 程序实例 (一)(第 5 周,2 节课)
5. Use and develop ROS Rviz program instances.(Part 1) (week 5, 2 hours)
6. 使用并开发 ROS Rviz 程序实例 (二)(第 6 周,2 节课)
6. Use and develop ROS Rviz program instances.(Part 2) (week 6, 2 hours)
7. 使用 URDF 创建机器人模型(一)(第 7 周,2 节课)
7. Use URDF to create robot model(part 1) (week7, 2 hours)
8. 使用 URDF 创建机器人模型(二)(第 8 周,2 节课)
8. Use URDF to create robot model(part 2) (week8, 2 hours)
9. 使用 URDF 创建机器人模型 Gazebo 与 ROS 的通信接口(第 9 周,2 节课)
9. Use URDF to create communication interface between robot model Gazebo and ROS (week 9, 2 hours)
10. 图像采集与目标识别(第 10 周,2 节课)
10. Image acquisition and target recognition (week 10, 2 hours)
11. 视觉跟随(ROS 定位基础、图像传感器、传感器节点、机器视觉、运动控制)(第 11 周,2 节课)
11. Vision following (ROS positioning foundation, image sensor, sensor node, machine vision, motion
control) (week 11, 2 hours)
12. 建造自己机器人的 3D 模型(ROS 仿真调试技能, rviz, gazebo, URDF, XML)(第 12 周,2 节课)
12. Create 3D robot model (ROS Simulation debugging skills, rviz, gazebo, URDF, XML ) (week12, 2 hours)
13. 创建仿真机器人与现实机器人的同步(基本控制器,测径法)(第 13 周,2 节课)
13. Synchronize simulating robot and realistic robot(base controller, odometry) (week 13, 2 hours)