ROS 2 Lessons and Build Instructions

FREE ROS 2 Lessons (no kit required)
1. ROS 2 Introduction 2. Install ROS 2 / Dev Stack 3. ROS 2 Intro: Nodes 4. ROS 2 Intro: Topics 5. ROS 2 Intro: Launch Files 6. ROS 2 Intro: RQt
Lessons (Beginner): Build the "Turtle" Base-Kit
1. Set up the ESP32 to ROS 2 interface 2. Overview of Motors and Breadboard 3. Build the Differential Drive 4. Add the Motor Controller 5. Wire Up the ESP32 6. Finish Up the ROS 2 Turtle Robot
Requires the Hadabot Turtle Base-Kit
Lessons (Beginner): Add the Motor + Speed Encoder Sensors

With the Motor + Speed Encoder Sensor Add-On, your Hadabot "Turtle" robot will be able to measure how fast its wheels spin. This begins your journey to learn about robot odometry which is an essential component to learning robot navigation.

1. Overview, update the Hadabot software stack 2. Getting to know the new motor + speed encoder sensor 3. Start the new motor + speed sensor assembly 4. Speed encoder sensor noise + finish assembly
Requires (1) the Hadabot Turtle Base-Kit, (2) Hadabot Add-On: Motor + Speed Encoder Sensors
Lessons (Beginner): Add the Range Sensors

The Range Sensor Add-On gives your Hadabot "Turtle" robot the ability to measure the distance of objects within its vicinity. Paired with odometry from the motor speed sensors, you can learn concepts related to motion planning, localization, and mapping.

1. Overview, update the Hadabot software stack 2. Getting to know the range sensor 3. Using the range sensor to measure distance 4. Finish assembling, wiring up the range sensors
Requires (1) the Hadabot Turtle Base-Kit, (2) Hadabot Add-On: Range Sensors, (3-highly recommend) Hadabot Add-On: Motor + Speed Encoder Sensors
Lessons (Intermediate): Introduction to Mobile Robotics

Follow along Professor Dr. Carlotta Berry's (Rose-Hulman Institute of Technology) online ECE425 Course on Mobile Robotics to learn the basic principles of mobile robotics history, theory, hardware, and control. Topics will include robot components, locomotion, sensors, control architecture, localization, and navigation.

While learning from the MOOCs videos, do the following Hadabot ROS 2 based assignments (adopted from the original courseware) using Python on your Hadabot Turtle robot.

Lab 1. Getting to Know Your Hadabot Turtle: Locomotion and Odometry Lab 2. Random Wander, Obstacle Avoidance: The Reactive Paradigm Lab 3. Wall Following: Proportional-Derivative Control Lab 4. Line Following:  Proportional-Integral Control Lab 5. Homing: Hybrid Control Lab 6. Topological Path Planning Lab 7. Metric Path Planning (Occupancy Grid) Lab 8. Path Planning (Topological Map) Final Project. Localization and Map Making
Requires (1) the Hadabot Turtle Base-Kit, (2) Hadabot Add-On: Motor + Speed Encoder Sensors, (3) Hadabot Add-On: Range Sensors
Lessons (Advanced): Probabilistic Robotics

Professor Dr. Wolfram Burgard is a co-author (along with Sebastian Thrun and Dieter Fox) of the seminal textbook Probabilistic Robotics.

Follow along Professor Burgard's online course on Mobile Robotics to learn probabilistic approaches to sensor modeling, motion modeling, localization, mapping, and simultaneous localization and mapping (SLAM). Learn these concepts fundamental to creating a self-driving, autonomous vehicle, while doing the following suggested assignments (adopted from the original courseware) using ROS 2 and Python on your Hadabot Turtle robot.

Lab 0. Python Warmup Lab 1. Linear Algebra Lab 2. Locomotion, Differential Drive Kinematics Lab 3. Bayes Rules Lab 4. Sampling, Motion Models Lab 5. Sensor Models Lab 6. Discrete Filter, Particle Filter Lab 7. Kalman Filter / Extended Kalman Filter Lab 8. Mapping with Known Poses Lab 9. FastSLAM Lab 10. Iterative Closest Point Algorithm Lab 11. Path Planning
Requires (1) the Hadabot Turtle Base-Kit, (2) Hadabot Add-On: Motor + Speed Encoder Sensors, (3) Hadabot Add-On: Range Sensors
ROS 2 Programming Resources

Here are some ROS 2 resources we find useful when working on the coding parts of our lessons.

1. Python ROS Client Library: rclpy docs 2. Python ROS Client Library: rclpy source code 3. C++ ROS Client Library: rclcpp docs 4. C++ ROS Client Library: rclcpp source code 5. ROS 2 built-in message types 6. Python NumPy API reference 7. Python matplotlib API reference 8. Python SciPy API reference
Requires (1) curiosity (2) resourcefulness (3) grit