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Robotics-Spring2023

This repository contains my projects and homeworks for the Robotics-Spring2023 course at the Ferdowsi University of Mashhad.

  1. Introduction to ROS2

    • Assignment1 -> Multi Language Publisher Subscriber Two nodes which are communicating with topics. Subscriber is developed using Python, and the publisher is programmed in C++.

    • Lab1 -> Turtle Chaser.

    • Assignment2 -> Yin&Yang Two packages, one in python and one in C++ that are communicating with each other using ROS2 services and actions.

    • Lab2 -> Turtlesim Controller

  2. Introduction to TF2

    • Assignment3 -> Trutlemania Turtles chasing each other using tf2 transforms.

  3. Motion Planning using Moveit2

    • Lab4 -> Hello Moveit Motion planning using moveit, rviz and gazebo using Panda manipulator.
    • Lab5 -> FUMTI motion planning using moveit, rviz and gazebo using FUMTI manipulator.

  4. Gazebo Intro

    • Lab3 -> GZ Intro
    • Assignment5 -> RGB NAV Gazebo installation guide is at the first of this assignment.

  5. Mobile Robots

    • Lab7 -> Simple Differential Drive Simple diff drive, forward and backward Twist published using ros2 topic and converted to gz topic using ros_gz_bridge.

    • Lab8 -> Maze Previous diff-drive in a maze, using LIDAR sensor to detect walls and preventing the collision.

    • Lab9 -> Maze2

    • Assignment5 -> RGB NAV Navigate eddiebot in a maze using RGB signs. first clone and build eddiebot-ros.

    • Assignment6 -> Eddie Kinect Laserscan Convert kinect depth image to LaserScan using depthimage_to_laserscan.