Module 0 Start Here!
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Welcome to the Industrial ROS2 Manipulation Lab (20:05)
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Request Access to Your Private GitHub Repository
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Keeping the Lab Updated
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What Problem This Lab Solves
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What You Will Build
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How to Use This Course
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Install Docker Desktop WSL2 and VS Code on Windows 11
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Install Docker and VS Code on Ubuntu 22.04
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Clone the Repository and Run lab doctor
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Launch Your First Demo
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Troubleshooting GUI Docker Volumes
Module 1 ROS2 Fundation
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How These ROS2 Concepts Are Used in the Lab
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Differences Between ROS and ROS2 (10:51)
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ROS and ROS2 Distributions
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Create a ROS2 Workspace (9:19)
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Create a C++ Package and Node (37:39)
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Topic Publisher/Subscriber in C++ (37:30)
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Create a Python Package and Node (30:00)
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Topic Publisher/Subscriber in Python (21:47)
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Create a Custom Interface (11:47)
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Create a Service in Python (15:38)
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Create a Service in C++ (17:55)
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ROS2 Parameters (29:57)
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Create a Launch File (30:50)
Module 2 Docker for Robotics
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You Do Not Need to Understand Docker First
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Why Docker for Robotics (22:32)
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What Is Docker Under the Hood (13:19)
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How to Run a Container (17:45)
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Volumes: Making Data Persistent (19:26)
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GUI Applications in Docker (12:43)
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Multi-Container Robotics with Docker Compose (33:59)
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Using Docker in VS Code (13:31)
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Common Docker Commands Cheatsheet
Module 3 Design a Robotic Cell in Simulation
Module 4 ROS2 Control and MoveIt2
Module 5 Develop a Blind Pick and Place with 6-Axis Robot
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Get the GitHub Repo if you are Running Locally in Ubuntu 22.04 and Use MoveIt Setup Assistant
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The Anatomy of a Blind Pick-and-Place Cycle
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Run Pick-and-Place with the UR5 and the Robotiq (8:26)
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Collision Objects, and the Planning Scene (23:37)
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Upgrading the MoveIt Config for Industrial Planners
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Cartesian Motion: Commanding the HOW (30:20)
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Choose Your Planner: PTP, LIN, and the Trap Pilz Sets
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Checkpoint: What Is Still Fragile
Module 6 Develop a Vision Guided Pick and Place
Module 7 The Behavior Tree Architecture for Robotics
Module 8 Capstone Portfolio
Bonus — Model Your Own Robot: URDF from Scratch to ros2_control
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Introduction to URDF (7:41)
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Strategy: Modelling a Robot Nobody Has Modelled (8:20)
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Your First Links and Joints, From Primitives (12:48)
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Visualize the Robot in RViz (13:44)
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Joint State and Robot State Publisher (10:24)
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Complete the 6-Axis Arm (19:59)
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Simplify the Model With Xacro Macros (15:05)
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Model a Gripper as End Effector (22:56)
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Make Your Packages Portable
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Inertias That Do Not Wreck the Simulation (22:01)
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The Gazebo Plugin and the ros2_control Seam (14:12)
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Spawn Your Robot in Gazebo
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ROS2 Control: Joint Group Position Controller (54:23)
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ROS2 Control: Gripper Action Controller (16:20)
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ROS2 Control: Joint Trajectory Controller (12:20)
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Send trajectory_msgs from a C++ Script (11:43)
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Create a MoveIt2 Configuration Package (55:40)
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Interface MoveIt2 with Gazebo (18:24)
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Pick-and-Place with a Custom Robot (30:27)
