KAIST EE405A Electronics Design Lab.
- Brief tips on installing Ubuntu (Linux-based OS)
- Understand the Robotics Operating System (ROS) (1)
- Install & Setup ROS
- Run ROS tutorial
- Learn ROS programming
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Understand the Robotics Operating System (ROS) (2)
- ROS tools: rviz, rosbag
- ROS message types
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Learn how to design the vehicle controller
- Vehicle kinematics model
- Longitudinal controller using PID control
- Geometry for lateral vehicle control
- Lateral controller based on Pure Pursuit & Stanley Method
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- Hardware architecture
- Electronics
- Chassis
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- Software architecture
- Setting up Jetson NX (Official demo version)
- Install libraries (ROS, OpenCV, ...)
- Install sensor interfaces
- Camera (Intel Realsense D435i)
- 2D LiDAR (Hokuyo UST-20LX)
- IMU (myAHRS+)
- Install control interface
- Arduino ROS
- SLAM basics
- 2-D, 3-D SLAMs supported by ROS.
- Occupancy grid map messages to save the 2-D map
- Scan matching algorithm
- How does the scan matching algorithm work?
- Implement 2D Localization based on Particle filter
- Implement 2D Localization based on PCL library
- Example code
- Real-world test
- Parametric study
- Gazebo
- Models
- Links
- Joints
- Sensor plugins
- World
- models
- Visualization