Robotics

Mobile robots end to end: middleware, kinematics, sensing, localization, mapping and navigation. Concepts are shown in plain Python simulations first, with ROS 2 packages in ros2_ws/.

This part builds on Foundations and Computer vision.

1 of 12 topics ready, listed in reading order

Robot software and ROSWhy robots need middleware and how ROS 1 and ROS 2 differ.Planned

ROS communication patternsTopics, services, actions and parameters, and when to use each.Planned

Launch files and namespacesComposing nodes, remapping and running many robots at once.Planned

Robot description and simulationURDF, xacro, SDF and simulator plugins.Planned

Sensors for mobile robotsLidar, cameras, IMUs and wheel odometry, with their noise.Planned

Differential-drive kinematicsThe unicycle model, wheel speeds and go-to-goal control.Planned

LocalizationMonte Carlo localization with a particle filter.Ready

SLAMOccupancy-grid mapping and particle-filter SLAM.Planned

NavigationCostmaps, global planning with A* and Dijkstra, and the dynamic window approach.Planned

Multi-robot formationMany robots forming text with optimal goal assignment.Planned

Lane followingA camera pipeline that keeps a robot in its lane.Planned

Debugging and visualizationVisualizers, recordings and a triage checklist.Planned