ROS-Industrial Training Course

Introduction to ROS-Industrial (ROS-I)

Overview of ROS-I Features and Architecture

Installing and Configuring ROS-I

Setting Up the ROS-I Development Environment

Overview of Unified Robot Description Formats (URDFs) on ROS-I

Using Interface Libraries (Drivers) on ROS-I

Tracking Coordinate Frames on ROS-I Using TF

Motion Planning on ROS-I

• MoveIt! Application
• RViz
• C++

Creating a Simple MoveIt! Application

Setting Up a New Robot with ROS-I

• Creating and Verifying a URDF
• Creating and Updating a MoveIt! Package for ROS-I
• Testing on ROS-I Simulator

Working with Descartes on ROS-I

• Descartes Architecture
• Descartes for Robotic Routing
• Descartes for Robotic Blending
• Trajectory Points on Descartes
• Overview of Descartes Path Planning

Creating a Simple Descartes Application

Working with Perception on ROS-I

• Camera Calibration
• Working with 3D Cameras and 3D Data
• Overview of Perception Processing Pipeline
• Perception Tools

Creating a Simple Perception Application

Performing Path Planning on ROS-I

Building a Perception Pipeline on ROS-I

Troubleshooting

Summary and Conclusion