KAIST EE405A Electronics Design Lab.

Lecture Note Week3

• Brief tips on installing Ubuntu (Linux-based OS)
• Understand the Robotics Operating System (ROS) (1)
• Install & Setup ROS
• Run ROS tutorial
• Learn ROS programming

Lecture Note Week4

• Understand the Robotics Operating System (ROS) (2)

  • ROS tools: rviz, rosbag
  • ROS message types

• Learn how to design the vehicle controller

  • Vehicle kinematics model
  • Longitudinal controller using PID control
  • Geometry for lateral vehicle control
  • Lateral controller based on Pure Pursuit & Stanley Method

• Hardware configuration

  • Hardware architecture
  • Electronics
  • Chassis

• Software configuration

  • Software architecture
  • Setting up Jetson NX (Official demo version)
  • Install libraries (ROS, OpenCV, ...)
  • Install sensor interfaces
    • Camera (Intel Realsense D435i)
    • 2D LiDAR (Hokuyo UST-20LX)
    • IMU (myAHRS+)
  • Install control interface
    • Arduino ROS

• Setting up Jetson NX (eMMC version)

Lecture Note Week6

• SLAM basics
  • 2-D, 3-D SLAMs supported by ROS.
  • Occupancy grid map messages to save the 2-D map
• Scan matching algorithm
  • How does the scan matching algorithm work?
• Implement 2D Localization based on Particle filter
• Implement 2D Localization based on PCL library
  • Example code
  • Real-world test
• Parametric study

Lecture Note Week10

• Gazebo
• Models
  • Links
  • Joints
  • Sensor plugins
• World
  • models
• Visualization