ROS2 Ultimate guide for Custom Robotic Arms and Panda 7 DOF

Course Curriculum

Chapter 1: Robotic Arms Thoery and ROS2 Setup

Lecture 1: Course Resources

Lecture 2: Virtual Machhine for Windows

Lecture 3: Development Software Setup

Lecture 4: Start Developing in ROS2

Lecture 5: ROS2 Installation and Setup

Lecture 6: What is Sourcing

Lecture 7: ROS2 Package Setup

Chapter 2: Creating Custom Robotsic Arm

Lecture 1: Transform and Robot Structures

Lecture 2: Defination of Robots through Transforms

Lecture 3: ROS2 Based Static Transforms

Lecture 4: Robotic Arms Terms and Design Thinking

Lecture 5: Creating a URDF

Lecture 6: Dynamic , Rotating joints

Lecture 7: Gazebo Simulation

Lecture 8: Franka Emeka Panda Robotic Arm

Lecture 9: Inertia tags of Panda Arm

Lecture 10: Enable Gazebo in URDF

Chapter 3: ROS2 Control and Kinematics

Lecture 1: Understanding ROS2 Control

Lecture 2: ROS2 Control Setup

Lecture 3: Joint Trajectory Controller

Lecture 4: Finger Controlling and Path Fixing

Lecture 5: Robotic Arm Kinematics

Lecture 6: DH Table Understanding

Lecture 7: Robotics Tool Box

Lecture 8: Trajectory Generation theory

Lecture 9: RTB in Trajectory Controller

Lecture 10: Multi Goal sending

Chapter 4: ROS1 Basic Older Implementation

Lecture 1: Important Information

Lecture 2: Robotic Arm Kinematics and 3D Spaces

Lecture 3: Trajectories and WayPoints

Lecture 4: ROS project Workflow for Custom Robotic Arm

Lecture 5: Ros Installations and Path Setup Essentials

Lecture 6: Installation of ROS Noetic

Lecture 7: What are Workspaces and Packages

Lecture 8: GitHub Repository Resources

Lecture 9: Custom Package "Bazu" Creation

Lecture 10: Understanding Robotic Arm Design Requirements

Lecture 11: Start Building URDF for our Custom Robotic Arm

Lecture 12: Completing Basic URDF Structure

Lecture 13: Transform between Links and Joints

Lecture 14: RVIZ Launch File and Joint Axis Test

Lecture 15: Gazebo Setup and Launching

Lecture 16: Gazebo Required Properties

Lecture 17: Inertial Tag Calculations

Lecture 18: Tweaking all Inertia and Collision Values

Lecture 19: Ros Control Package and its attributes

Lecture 20: Controllers installation Steps with 3D Spaces differences

Lecture 21: Installations required for the upcoming lectures to work Properly

Lecture 22: Integrating Hardware Interfaces to Our Custom Robot

Lecture 23: Controller setup issues resolving

Lecture 24: Effort Controllers

Lecture 25: PID values Tuning for Effort Controllers

Lecture 26: Setting up Joint Trajectory Controller

Lecture 27: Testing Joint Trajectory Controller

Lecture 28: Robotics Tool Box

Lecture 29: DH table Derivation for Puma 560

Lecture 30: Inverse and Forward Kinematics for Puma 560 using Robotics Tool Box

Lecture 31: Deriving DH table for "Bazu" our Custom Robotic Arm

Lecture 32: Forward Kinematics Implementation on "Bazu"

Lecture 33: Why Panda Robtic Arm is Interesting ?

Lecture 34: Reference Links to Panda Robotic Arm development

Lecture 35: Setting up Panda Package from Repository

Lecture 36: Custom Controllers setup Stratergy

Lecture 37: Joint Trajectory Controller Setup

Lecture 38: Powering Up the JTC

Lecture 39: Panda DH table from Robotics Tool Box

Lecture 40: Inverse and Forward Kinematics for Panda using Robotics Tool Box

Lecture 41: Inverse Kinematics Point Execution in 3D space

Lecture 42: Trajectory Action Client Interface

Lecture 43: Lets Draw a Square with our Robot

Lecture 44: Task for picking up a Cup