Module 1: ROS introduction and workspace setup
Module 2: ROS basics and tools
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Create ROS workspace (9:01)
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The ROS master and the nodes (23:21)
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Create a node in C++ (29:19)
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Create a node in Python (14:28)
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Create a publisher in C++ (14:31)
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Create a subscriber in C++ (19:42)
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Create a publisher in Python (12:48)
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Create a subscriber in Python and play with Turtlesim (23:31)
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Introduction on Services (18:01)
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Create a service server in C++ (20:59)
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Create a service client in C++ (16:28)
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Create a service server in Python (11:50)
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Create a service client in Python (15:07)
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Create a custom msg (18:13)
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Create a custom srv (4:43)
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Final Project with Turtlesim (95:59)
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ROS parameters (6:08)
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ROS launch file (10:58)
Module 3: World Modeling and Simulation Environment
Module 4: Robot Modeling
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Introduction to URDF file (7:41)
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Strategy to model your custom Robot (8:20)
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Start to create a custom Robot in URDF (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 you custom robot (19:59)
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How to simplify your Robot model (15:05)
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How to model a gripper as end effector (22:55)
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How to clone a robot model from Github (33:21)
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How to clone a commercial robot: Universal Robot 5 (UR5) (25:08)
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How to setup a commercial Gripper: Robotiq (30:59)
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Spawn your Robot in Gazebo (11:54)
Module 5: ROS Control
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Introduction to ROS Control (8:17)
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How to calculate intertia values for your custom robot (22:01)
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How to configure transmission for the joints of your custom robot (14:57)
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How to put a Gazebo plugin (14:12)
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How to create and configure controllers for your Custom Robot Joints (17:08)
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How to spawn controllers of your robot joint (19:30)
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How to tune PID Controllers for your Custom Robot Joints (87:26)
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Forward Kinematics with Custom Robot (9:48)
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How to use Transform (3:31)
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Hot to grasp an object in Gazebo without slipping (26:33)
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JointPositionController VS JointTrajectoryController (12:52)
Module 6: Inverse Kinematics with MoveIt and Pick and Place Application
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Introduction to MoveIt (12:08)
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Create a MoveIt configuration Package (19:00)
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Play with Motion Planning and update the MoveIt package (36:37)
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ROS Control for MoveIt (11:09)
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Create an Inverse Kinematics node (28:55)
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How to setup the orientation and position of the end effector (19:30)
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How to make Collision Objects in Rviz (23:37)
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How to code Pick and Place (51:06)
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How to adapt the inverse Kinematics node to another robot (37:30)
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How to code Pick and Place with Grasp Class
Module 7: Run the Application in Gazebo
Module 8: Perception for Robotics with OpenCV
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Why Computer Vision in Robotics (20:33)
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Strategy to integrate perception with robotic arm (14:01)
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Type of Perceptions: HSV (11:53)
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Type of Perceptions: SURF (6:21)
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Type of Perceptions: PCL (4:05)
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How to deploy a 2D camera (23:52)
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Get an Image with OpenCV (37:04)
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Stream the Image with OpenCV (6:15)
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Edge Detection with OpenCV (46:49)
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Get the position of the object in the Image (46:03)
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Convert the object position with the respect of camera_link (80:14)
Module 9: Perception for Robotics with PCL
Module 10: Pick and Place using camera
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How to tackle this project (9:13)
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Adapt the Computer Vision node (16:43)
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Create the service to transform data from camera_link to base_link frame (61:42)
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Pick and Place with 2D camera (53:54)
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Pick and Place with Grasp class (36:21)
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Pick and Place with UR5 and Robotiq gripper in Gazebo / real word (38:53)
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Pick and Place with UR5 Robotiq gripper and 3D camera (9:58)
Module 11: Waypoints and Optimize the Trajectory
Module 12: ROS2 Humble
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Differences between ROS and ROS2 (10:51)
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ROS and ROS2 distributions
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Install and setup ROS2 Humble (14:04)
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Create ROS2 Workspace (9:19)
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Install VS code in Ubuntu 22.04 and ROS2 setup (4:18)
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Create packages and basic node in C++ (37:39)
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Write a Topic Publisher Subscriber in C++ (37:30)
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Create packages and basic node in Python (30:00)
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Write a Topic Publisher Subscriber in Python (21:46)
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Create Custom Interface (11:47)
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Write a service in Python (15:38)
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Write a Service in C++ (17:55)
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ROS parameters in ROS2 (29:57)
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Create a Launch file (30:50)
Module 13: Migrate your project from ROS1 to ROS2
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Migration strategy (9:22)
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Migrate custom robot description package (28:23)
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ROS2 Control: understanding and deploying Joint Group Position Controller (54:23)
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ROS2 Control: setup and deploy Gripper Action Controller (16:20)
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ROS2 Control: setup and deploy Joint Trajectory Controller (12:19)
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ROS2 Control: Control the robot sending trajectory_msgs from C++ script (11:43)
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Replicate the .world from ROS1 (8:31)
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Deploy depth camera and the pick object (25:45)
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Create MoveIt2 configuration package for a custom robot (55:40)
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How to interface Moveit2 with Gazebo (18:24)
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Create an inverse kinematics node with MoveIt2 in C++ (23:39)
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How to simulate grasping with LinkAttacher in Gazebo (11:38)
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Pick and place with a Custom robot: Gazebo interfaced with Rviz (30:27)
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UR5, Depth Camera setup in Gazebo with MoveIt (81:24)
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Add Robotiq gripper to UR5 and setup in Gazebo with MoveIt (62:50)
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Setup the UR5 workspace environment with LinkAttacher
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Pick and place with UR5 and Robotiq gripper
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Pick an object with UR5 using a Depth camera
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Setup the world and LinkAttacher for grasping (15:34)
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Test inverse kinematics with UR5 (20:46)
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Run Pick and Place with UR5 and Robotiq gripper (8:26)
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Point Cloud Library and 3D processing in ROS2 (52:12)
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Pick and Place with UR5 Robotiq Gripper using 3D camera in ROS2 (31:58)
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Resources and GitHub repository of the master class
Module 14: Docker for Robotics
Module 15: Final project: Pick from a box, visual inspection, place in belt conveyor
Additional module to be defined based on student's needs and requests
