Robot Operating Systems detailed syllabus for Robotics & Automation Engineering (Robotics) for 2021 regulation curriculum has been taken from the Anna Universities official website and presented for the Robotics students. For course code, course name, number of credits for a course and other scheme related information, do visit full semester subjects post given below.
For Robotics & Automation Engineering 5th Sem scheme and its subjects, do visit Robotics 5th Sem 2021 regulation scheme. For Professional Elective-I scheme and its subjects refer to Robotics Professional Elective-I syllabus scheme. The detailed syllabus of robot operating systems is as follows.
Course Objectives:
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Unit I
ROS ESSENTIALS 9
Introduction to ROS- Advantages and Disadvantages of ROS – ROS Framework- ROS package C++, Python – ROS computation Graph – nodes, Messages, topics, services, bags, ROS Master- ROS Community- Basic programming and Syntax overview in C++ and Python – start with ROS programming – Creating Environment – Services-Actions and Nodes- Simple Interaction with the Simulation environment
Unit II
BUILD YOUR OWN ROBOT ENVIRONMENT 9
CAD Tools for Robot Modelling – ROS Packages for robot modelling – Unified Robot Description Format and Tags- Kinematics and Dynamics Library – Create URDF Model – Robot Modelling using Unified Robot Description Format (URDF),-rOs parameter server and adding real-world object representations to the simulation environment _ Create Robot description using 7 DOF: joint number, name, type and angle limits – Xacro – Rviz – viewing of 7 DOF arm – creation of wheeled robot
Unit III
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Unit IV
ROS WITH VREP 9
V-REP is a multi-platform robotic simulator – Simulating the robotic arm using V-REP – Adding the ROS interface to V-REP joint – Simulating a differential wheeled robot, Adding a laser sensor , 3D vision sensor
Unit V
MAPPING, NAVIGATION AND MOTION PLANNINGROS WITH MOVEIT 9
Move it Instattion – Generating the Self-Collision matrix .virtual joints, planning groups, robot poses, robot end effector – MoveIt Architecture Diagram – Trajectory from RViz GUI executing in Gazebo – Planning scene overview diagram- Collision Checking – Motion Planning, Pick and Place Behaviors using Industrial Robots with ROS Moveit – ROS with MATLAB – ROS with Industrial
Course Outcomes:
Upon successful completion of the course, students should be able to:
- Recognize the concept of ROS and programming.
- Evaluate various robot algorithms in ROS programming
- Deploy mapping, navigation and motion planning ROS with Move-it.
- Simulate robots in ROS with GAZEBO and V-REP
- Program a Robot using ROS and its tool boxes
Text Books:
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Reference Books:
- Lentin Joseph, Aleena Johny, “Robot Operating System (ROS) for Absolute Beginners Robotics Programming Made Easy”, Second Edition, Apress, 2022.
- Lentin Joseph, “ROS Robotics Projects”, Packt publishing, 2017
For detailed syllabus of all the other subjects of Robotics & Automation Engineering 5th Sem, visit Robotics 5th Sem subject syllabuses for 2021 regulation.
For all Robotics & Automation Engineering results, visit Anna University Robotics all semester results direct link.