Unit 1 UNIT 1

9 lecture hours

• Robot Operating System ROS 1.1 Introduction to ROS 1.2 Meta-Operating System 1.3 Objectives of ROS 1.4 Components of ROS 1.5 ROS Ecosystem 1.6 History of ROS 1.7 ROS Versions 1.7.1 Version Rules 1.7.2 Version Release Period 1.7.3 Selecting a Version 1.8 Architecture of ROS 1.9 Key Features of ROS 1.10 Applications of ROS 1.11 Pro and Cons of ROS 1.12 Specification 1.13 Types of ROS 1.14 Popular ROS Computing Platform 1.15 Robots and Sensors Supporting ROS

Unit 2 UNIT 2

10 lecture hours

• ROS Basics Tools And Commands 2.1
• ROS Terminology 2.2
• Message Communication 2.2.1
• Message Communication Flow 2.3
• Message 2.3.1. msg File 2.3.2. srv File 2.3.3. action File 2.4
• Coordinate Transformation (TF) 2.6
• Client Library 2.7
• Communication between Heterogeneous Devices Program Name: Diploma Engineering Level: Diploma Branch: Automation & Robotics Subject Code: DI05041031 Subject Name: Robotic Operating System Unit No
• Content No. of Hours % of Weightage 2.8
• ROS Command List 2.9
• ROS Shell Commands 2.9.1. roscd: ROS Change Directory 2.9.2. rosls: ROS File List 2.9.3. rosed: ROS Edit Command 2.10
• ROS Execution Commands 2.10.1. roscore: Run roscore 2.10.2. rosrun: Run ROS Node 2.10.3. roslaunch: Launch Multiple Nodes 2.10.4. rosclean: Examine and Delete ROS Logs 2.11
• ROS Information Commands 2.11.1
• Run Node 2.11.2. rosnode: ROS Node 2.11.3. rostopic: ROS Topic 2.11.4. rosservice: ROS Service 2.11.5. rosparam: ROS Parameter 2.11.6. rosmsg: ROS Message Information 2.11.7. rossrv: ROS Service Information 2.11.8. rosbag: ROS Log Information 2.12
• ROS Catkin Commands 2.13
• ROS Package Commands

Unit 3 UNIT 3. Embedded System for ROS 08 15

• Board Specification 3.1.3
• Establish Development Environment 3.1.4
• OpenCR Examples 3.2. rosserial 3.2.1. rosserial server 3.2.2. rosserial client 3.2.3. rosserial Protocol 3.2.4
• Constraints of rosserial 3.2.5
• Installing rosserial 3.2.6
• Examples of rosserial 3.3
• TurtleBot3 Firmware 3.3.1
• TurtleBot3 Burger Firmware 3.3.2
• TurtleBot3 Waffle and Waffle Pi Firmware 3.3.3
• TurtleBot3 Setup Firmware 3.4
• Robot Supported by ROS Program Name: Diploma Engineering Level: Diploma Branch: Automation & Robotics Subject Code: DI05041031 Subject Name: Robotic Operating System Unit No
• Content No. of Hours % of Weightage 3.5
• TurtleBot3 Series 3.6
• TurtleBot3 Hardware 3.7
• TurtleBot3 Software 3.8
• TurtleBot3 Topic 3.8.1
• Subscribed Topic 3.8.2
• Controlling a Robot using Subscribe Topic 3.8.3
• Published Topic 3.8.4
• Verify Robot Status using Published Topics

Unit 4 UNIT 4

9 lecture hours

• Fundamentals of C++ and Python for Robot programming 4.1 Timeline: The C++ Language 4.2 The Differences Between Classes and Structs 4.3 C++ Classes and Objects 4.4 Class Access Modifier 4.5 C++ Inheritance 4.6 C++ Files and Streams 4.7 Namespaces in C++ 4.8 C++ Exception Handling 4.9 Timeline: The Python Language 4.10 Python in Ubuntu Linux 4.10.1 Introduction to Python Interpreter 4.11 Python Basics 4.11.1 Static and Dynamic Typing 4.11.2 Code Indentation 4.11.3 Semicolons 4.11.4 Python Variables 4.11.5Python Input and Conditional statement 4.11.6 Python: Loops 4.11.7 Python: Functions 4.11.8 Python: Handling Exception 4.11.9 Python: Classes 4.11.10 Python: Files 4.11.11 Python: Modules 4.12 Python: Machine Learning and Deep Learning 4.13 Python: Computer Vision 4.14 Python: Robotics

Unit 5 UNIT 5

9 lecture hours

• Design of Digital Control Algorithm 5.1 Understanding ROS-Industrial packages 5.2 ROS-Industrial – a brief history 5.2.1ROS-Industrial packages Program Name: Diploma Engineering Level: Diploma Branch: Automation & Robotics Subject Code: DI05041031 Subject Name: Robotic Operating System Unit No
• Content No. of Hours % of Weightage 5.2.2 Block diagram of ROS-Industrial packages 5.3 Creating a URDF for an industrial robot 5.4 Creating the MoveIt configuration for an industrial robot 5.5 Updating the MoveIt configuration files 5.6 The ROS interface for Universal Robots 5.7 Understanding the MoveIt configuration of a Universal Robots arm 5.8 Working with MoveIt configuration for ABB Robots