Robotics-Spring2023

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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.