ROS2 Autonomous Driving and SLAM using NAV2 with TurtleBot3

Course Curriculum

Chapter 1: Section 1 : Package Setup for Navigation

Lecture 1: Course Resources and Structure

Lecture 2: Welcome

Lecture 3: Start Developing in ROS2

Lecture 4: Turtlebot 3 Robot Setup

Lecture 5: Occupancy Grid

Lecture 6: Creating Nodes for Occupancy grids

Lecture 7: Occupancy Grid Node Completion

Lecture 8: Cartographer Package

Lecture 9: Installation and setting up Cartographer

Lecture 10: Creating 2D map

Lecture 11: Nav2 Project Explanation

Lecture 12: NAV2 Integeration

Lecture 13: Using Nav2 Goal navigation

Lecture 14: Summarizing whole section

Chapter 2: Section 2 : Maze Solving created in Gazebo

Lecture 1: Section Walk through

Lecture 2: Creating Maze world in gazebo

Lecture 3: Robot in Maze

Lecture 4: Mapping using Cartographer

Lecture 5: Problem with Navigation using Cartographer

Lecture 6: Introduction to Slam Toolbox

Lecture 7: Mapping with Slam Toolbox

Lecture 8: Running Navigation and Multi Point Navigation

Lecture 9: Understanding the Parameters

Lecture 10: What is Commander API

Lecture 11: Simple Commander API

Lecture 12: Multi Goals using Commander API

Lecture 13: Yaml File and its Importance

Lecture 14: Deeper Dive into NAV2 Parameters and their effects

Chapter 3: Section 3 : Autonomous Waiter with GUI

Lecture 1: Section Introduction

Lecture 2: Creation of Hotel Environment

Lecture 3: Mapping and Integrating Nav2 Stack

Lecture 4: Project Approach

Lecture 5: Button Creation into Nav2 Workflow

Lecture 6: Creating Multiple buttons for tables to Navigate autonomously

Lecture 7: Adding Plate into Robot Structure

Lecture 8: Completing Waiter Behavior

Lecture 9: Ending notes

Chapter 4: [ OLD ] : ROS 1 Version of Course

Lecture 1: GitHub Repository Resource

Lecture 2: Project Wrokflow

Lecture 3: Turtle bot 3 Package

Lecture 4: Setting up TB3 package

Lecture 5: Launch Files and Integerations

Lecture 6: Multiple launch Files running through Single

Lecture 7: Project Workflow

Chapter 5: [ OLD ] : ROS 1 Version : Maze Solving Robot with Optimal path

Lecture 1: SLAM Gmapping Node

Lecture 2: Maze Creation

Lecture 3: TurtleBot3 SLAM Mapping Example

Lecture 4: SLAM Multiple Launch Files into One Launch File

Lecture 5: Creating Map of our Custom Maze

Lecture 6: Navigation Stack Theoretical Understanding

Lecture 7: What is AMCL Node

Lecture 8: Turtle Bot3 Navigation Example

Lecture 9: Navigation Multiple Launch Files

Lecture 10: Navigation and Maze Solving

Chapter 6: [ OLD ] : ROS 1 Version : Intruder Detection and video feedback while Navigating

Lecture 1: Project Workflow

Lecture 2: Move Base Node Concept

Lecture 3: Go to Goal Behavior

Lecture 4: Creation of a Room in Gazebo

Lecture 5: Go to Goal Sequence

Lecture 6: How we will record a video in Simulation

Lecture 7: Video recording Node

Lecture 8: Instruder Spawning Process

Lecture 9: Gazebo Models Downloading

Lecture 10: Instruders Spawning into Gazebo

Lecture 11: Spawning Intruders and Recording Simultaneously

Lecture 12: Optimizing our Project Pipeline

Chapter 7: Old Version of Course for students who have not yet completed ROS Kinetic

Lecture 1: Move base Node usage

Lecture 2: Project 1 : Go to GOAL

Lecture 3: Project 2 : Go to Sequence