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Computer Science
Robotics
Robot Operating System (ROS)
1. Introduction to ROS
2. Installation and Environment Setup
3. ROS Filesystem Structure
4. Core ROS Concepts and Architecture
5. ROS Command-Line Tools
6. ROS Client Libraries and Programming
7. Creating and Building ROS Packages
8. Launch Files and System Configuration
9. Visualization and Debugging Tools
10. Coordinate Frames and Transformations
11. Robot Modeling and Description
12. Simulation and Testing
13. Navigation and Path Planning
14. Manipulation and Control
15. Perception and Sensor Integration
16. Advanced ROS Topics
17. ROS Ecosystem and Community
18. Troubleshooting and Best Practices
Navigation and Path Planning
Navigation Stack Overview
System Architecture
Component Integration
Data Flow
Map Representation
Occupancy Grids
Map Formats
Map Building
Localization
Adaptive Monte Carlo Localization (AMCL)
Particle Filters
Map Server
Initial Pose Estimation
Path Planning
Global Planning
Planning Algorithms
Cost Functions
Path Optimization
Local Planning
Obstacle Avoidance
Trajectory Generation
Dynamic Window Approach
Costmaps
Global Costmap
Static Map Layer
Obstacle Layer
Inflation Layer
Local Costmap
Real-time Updates
Sensor Integration
Rolling Window
Navigation Behaviors
Move Base
Recovery Behaviors
Goal Handling
Navigation Configuration
Parameter Tuning
Sensor Integration
Robot-Specific Setup
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14. Manipulation and Control