课程名称 Course Title
Robotics Programming with ROS (I)
ROS (Robot Operating System) is rapidly becoming a de facto standard in robot programming. Using the turtlesim simulator, this course will provide a hands-on introduction to programming robots with ROS with an emphasis on middleware concepts and ROS architecture. The topics to be covered include：basic ROS concepts, controlling a robot with ROS, communication and coordination between multiple robots, ROS programming with Python. The assessment is based on a Python implementation of leader-follower formation control of multi robots.
课程大纲 Course Outline
"1.Introduction to ROS
a.An overview of ROS
b.Basic ROS concepts: ROS master, ROS nodes, topics, messages, packages, etc
c.ROS command line tools
d.Understanding ROS using the Turtlesim simulator
3.ROS programming with Python
a.Catkin workspace and ROS package
b.How to write a ROS node in Python
c.ROS launch file
4.Custom ROS messages and services
a.Understand the message/service description and specification in ROS
b.Steps to create a custom ROS message/service
c.Writing a ROS node with a custom message
d.Implementing a ROS service in Python
5.Multi-robot systems in ROS
a.An introduction to multi-robot systems in ROS
b.ROS namespaces
c.ROS tf system and tf command tools
Writing a tf broadcaster/listener in Python"
