ROS for Beginners II: Localization, Navigation and SLAM
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- 6 articles
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- Theoretical foundations of 2D and 3D localization
- Transformation between frames in 2D and 3D Spaces
- The powerful feature of the tf package to represent frames and perform transformation and localization
- Theoretical foundation of localization and mapping (SLAM)
- Background on navigation concepts (global path planning, local path planning, collision avoidance)
- Difference between Map-Based Navigation and Reactive Navigation
- The navigation stack of ROS (move_base, amcl, gmapping)
- Prior knowledge of the basic concepts of the Robot Operating System (ROS) (required)
- Knowledge in C++ and/or Python Programming language
- Background on the concepts of Linear Algebra, Trigonometry and Geometry
- Want to learn ROS
- Eager to learn robotics navigation
9 August 2019: adding of a section on configuration of the navigation stack parameters
Localization, mapping and navigation are fundamental topics in Robot Operating System (ROS) and mobile robots. However, it is very complex to learn. Usually, beginners find it difficult to even know from where to start. The typical tutorials in ROS gives high-level information about how to run ROS nodes to performs mapping and navigation, but they do not give any details about the technical aspects. Some other courses focus more on the technical aspects, which is mathematically complex, but does not give a clear link to how these concepts are tied with the ROS navigation stack.
This course addresses this gap and follows a practical approach to introduce new learners to mobile robots navigation foundations and how it is implemented in ROS. The course is designed to introduce you to the world of mobile robot navigation in a quick and effective manner.
In this course, I presented a detailed coverage of the most important package in ROS for navigation: the tf package! Without understanding this package, it will be difficult to deeply understand how navigation works in ROS. Although there are tf tutorials, tf package heavily relies on important theoretical concepts not presented in ROS tutorials. This courses provides a systematic introduction to the necessary theoretical background and complement with demonstration and programming activities of the tf package utilities and API.
This course assumes that you have some background on the main concepts of Robot Operating System (ROS), such as ROS nodes, ROS topics, ROS services, and an understanding of the basic notion of motion with ROS. If you do not have these skills, them I would recommend to first enroll to my course ROS for Beginners: Basics, Motion and OpenCV to get the necessary background.
My experience with ROS
I have been programming with ROS for many years both in academic and industrial projects. I am very passionate to develop program with ROS. I have also been teaching ROS at the University and providing training programs. I am R&D Director of Gaitech Robotics, and I have developed many ROS packages for robots and drones. I have been leading international scientific activities around ROS, and in particular, I am the editor of three volumes of books with Springer entitled Robot Operating System, The Complete Reference. I gained a lot of experience on what difficulties new users encounter to learn ROS and this contributed to pin right to the point addressing these problems through the different lectures of the course.
- Beginner ROS developers and users
- Students at Universities learning ROS
- Anyone interest to know about the navigation concepts of ROS and mobile robots
- Curious about robotics
- Whoever wants to learn ROS navigation without wasting time
This lecture provides a short biography on the instructor.
You can read about him in these links
This lecture presents an overview of the section on frames.
In the previous lecture, we have presented the transformation matrix for a pure translation and the transformation of a pure rotation. However, in real world, transformation can be composed of translation plus rotation at the same time. In this lecture, we will present how to convert the coordinates between two frames with a general transformation.
In the previous lecture, you have learned how to transform location coordinates between two frames that are shifted by a translation and a rotation. But, you may ask, why this is useful and in which context we need it?
In this lecture, I will present a simple example to show you why transformations are very important indeed.
Let us get started.