ROS2 for Beginners Level 2 - TF | URDF | RViz | Gazebo

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Edouard Renard

9:06:10

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1. Introduction

1. Welcome!.mp4

02:44

2. Course Overview - How to Follow the Course.mp4

04:38

3. Install and setup ROS2 [recap].mp4

06:32

4. Programming tools for this course.mp4

03:37

2. TF (TransForm) Overview

1. Intro.mp4

01:27

2. Visualise a Robot TFs in RViz 2.mp4

14:07

3. Relationship Between TFs, TF tree.mp4

10:38

4. What problem are we trying to solve with TF.mp4

02:31

3. Create a URDF for a Robot

1. Intro - What is URDF.mp4

02:42

2. Your first URDF file Create and Visualize a Link.mp4

12:10

3. Material - Add Some Colors.mp4

04:07

4. Combine 2 Links with a Joint.mp4

16:53

5. Another example of the process to write the URDF right the first time.mp4

06:02

6.1 URDF Joint Documentation.html

6.2 URDF Link Documentation.html

6. Different Types of Joints in a URDF.mp4

15:03

7. Add a Wheel to the Robot.mp4

17:13

8.1 s3 urdf specs.txt

8. Activity 01 - Complete the URDF for the Robot.mp4

07:16

9.1 s3 my robot.zip

9. Activity 01 - Solution.mp4

21:06

4. Broadcast TFs with the Robot State Publisher

1. Intro.mp4

01:09

2. How the Robot State Publisher and URDF Work Together.mp4

11:18

3. Run the Robot State Publisher with URDF in the Terminal (Command Line).mp4

07:49

4. Create a Robot Description Package to Install the URDF.mp4

10:58

5. Write a Launch file to Start the Robot State Publisher with URDF (XML).mp4

11:48

6. Python Launch File.mp4

12:52

7.1 s4 rviz challenge.txt

7. Activity 02 - Add Rviz Config in the Launch File.mp4

04:30

8.1 code end section4.zip

8. Activity 02 - Solution.mp4

09:19

5. Improve the URDF with Xacro

1. Intro.mp4

01:05

2. Make the URDF Compatible with Xacro.mp4

07:22

3. Create Variables with Xacro Properties.mp4

08:05

4.1 s5 xacro challenge.txt

4. Activity 03 - Xacro Properties.mp4

02:23

5. Activity 03 - Solution.mp4

15:42

6. Create Functions with Xacro Macros.mp4

10:40

7. Include a Xacro File in Another Xacro File.mp4

09:48

8. The Xacro Command to Generate the URDF.mp4

02:25

9.1 code end section5.zip

9. Real Meshes - Quick Overview.mp4

07:02

6. Simulate Your Robot with Gazebo

1. Intro.mp4

03:11

2. Run Gazebo.mp4

05:27

3. How Gazebo Works with ROS.mp4

03:18

4.1 List of Inertia Matrices (Wikipedia).html

4.2 URDF Inertia Documentation.html

4. Add Inertia Tags in the URDF.mp4

13:58

5. Activity 04 - Inertia Macros.mp4

01:40

6.1 s6 urdf solution activity inertia.zip

6. Activity 04 - Solution.mp4

12:45

7. Add Collision Tags in the URDF.mp4

08:33

8. Spawn the Robot in Gazebo.mp4

09:30

9.1 s6 launch file instructions.txt

9. Activity 05 - Launch File to Start Robot in Gazebo.mp4

02:49

10.1 s6 my robot bringup solution.zip

10. Activity 05 - Solution.mp4

14:37

11. Fixing the Inertia Values.mp4

09:11

12. Fixing the Colors with Gazebo Material.mp4

07:07

13.1 Gazebo plugins doc.html

13.2 Gazebo plugins GitHub.html

13. Add a Gazebo Plugin to Control the Robot.mp4

25:26

14. Create a World in Gazebo.mp4

06:05

15.1 code end section6.zip

15. Launch the Robot in the World.mp4

09:41

7. Add a Sensor in Gazebo

1. Intro.mp4

00:45

2. Add a Camera to the URDF.mp4

15:38

3. Add a Gazebo Plugin for the Camera.mp4

14:33

4.1 code end section7.zip

4.2 Quick Fix for the Camera.html

4. (Optional) Quick Fix For the Camera to Work with ROS.mp4

04:06

8. Final Project

1.1 ROS2 For Beginners Level 2 - Final Project Instructions.pdf

1. Intro - Final Project Overview.mp4

04:32

2.1 project step1.zip

2. Step 1 - URDF Links and Joints.mp4

31:11

3.1 project step2.zip

3. Step 2 - Adapt the Robot for Gazebo.mp4

20:09

4.1 project step3.zip

4. Step 3 - Add Gazebo Plugins.mp4

16:19

5.1 project step4 end.zip

5. Step 4 - Combine the 2 Robots.mp4

17:10

9. Conclusion

1. What youve learned - Recap.mp4

02:12

2. What to do next.mp4

03:16

3. Bonus Lecture.html

Description

Understand TFs, Design a custom robot with URDF, Simulate the robot in Gazebo - Your Next Step with ROS 2.

What You'll Learn?

Understand what TF (TransForm) is and why we need it
Create a URDF for any robot (ex: mobile base, robotic arm)
Simulate and control your robot in Gazebo
Add Links, Joints, Collisions, Inertia tags in the URDF file
Understand how to correctly specify links and joints origin
Use Gazebo plugins to simulate the hardware control of the robot
Improve and clean up the URDF with Xacro (properties, macros)
Learn how to use the Robot State Publisher node to publish TF
Visualize TFs with RViz
Create XML and Python launch files
Save and reuse a RViz config in a launch file
Create a world in Gazebo
Add a sensor in Gazebo
Make your robot spawn in a custom Gazebo world
Learn best practices right from the start
Practice with additional activities and projects

Who is this for?

ROS developers who know the basics and want to learn how to start building and simulating robots with ROS 2

Engineers/Teachers/Researchers/Anyone who has started with ROS 2 and wondering what to do next

ROS developers who are already using URDF, TF and Gazebo, but feel like they are not understanding everything they do

Anyone lost in the ROS2 docs

What You Need to Know?

You need to have some ROS 2 basics. If you’re new to ROS 2, I suggest starting with my “ROS2 For Beginners” course (level 1)

Ubuntu installed on your computer (best as a dual boot)

More details

Description
You have learned ROS2 basics and want to go to the next step?
You want to design a custom application for a robot? And maybe also create a simulation for the robot?
Or, you are already working on this, but you feel lost with TF, URDF and Gazebo?
This course is for you. At the end of the course you will be able to design a custom robot with ROS 2, and run this robot in a simulated world.

â€“ Why this course?

I have designed myself a ROS application for a custom robot, while working on a startup project. And I started like everybody, as a beginner.
Not only learning ROS2 basics was hard, but then when adding TF, URDF, and Gazebo, it seemed impossible. It actually took me a few months/years to really be comfortable with those.
When you look at the existing online resources, itâ€™s very hard to find any process that explains in simple terms how to start from scratch and build a project.
Thatâ€™s why Iâ€™ve created this course, so you can benefit from my years of experience with ROS. I made the course I wish I had when I got started.
My goal is to make you save tons of hours and frustration, by giving you a step by step approach, with a real project that we do together, from beginning to end.

â€“ How do I teach?

If youâ€™ve taken other ROS 2 courses from me you know that Iâ€™m not here to waste your time.
My teaching method is quite simple:
Step by step
Going to the point
Learn while doing

Also I strongly focus on the â€œwhyâ€ behind what you learn. The goal is not just to make you blindly repeat some steps, but to understand why those steps matter.

And donâ€™t take my word for it - here are some reviews from fellow students/researchers/engineers/teachers who took my ROS2 courses on Udemy:
â€œBest course on ROS2 Iâ€™ve taken! Other courses (different sites/platforms) made it confusing but *this course makes it so clear and easy to understand while letting you try on your own**. I am definitely learning a lot in a painless and simple way. I should have gotten this course from the beginning.â€* - Miguel Martinez G.
â€œOverall very satisfied. Iâ€™ve a strong background in programming, but at a higher level (web mostly) and the elegant, fluent and clean approach of this course has leveraged my introduction to the ROS environment in a *short amount of time, without the struggle of going through a lot of documentation**â€* - Devis D.
â€œI think *I learned all that I need to develop a ROS2 project from scratch**. I will recommend 100% this course to anyone who wants to learn the fundamentals of ROS2.â€* - Javier D.
â€œThis course is awesome. I finally get to understand the development of packages/nodes *in a simple progressive way**, which helps to understand how the framework works and therefore helps to get into it easily.â€* - Christophe K.

â€“ What will you do and learn in the course?

This course is project based. We will start a project together, from scratch. Then, step by step, you will build the application, while learning new concepts.
Hereâ€™s a quick overview of what youâ€™ll do (non exhaustive list):
Understand what TF is (with RViz) and why we need it.
Start the project by writing a URDF file, to describe the physical properties of a robot - weâ€™ll start with a mobile robot.
Generate TF using the robot state publisher and the URDF.
Improve and clean the URDF using the Xacro tool.
Adapt the URDF for Gazebo, spawn the robot in Gazebo.
Control the robot with Gazebo plugins.
Simulate a sensor in Gazebo.
Create ROS2 packages and XML launch files to start the entire application with one command line.
Everything is hands-on, so youâ€™ll practice right from the start, and I will show you every step that I do.
You also get some extra activities during the course, so you can practice even more by being challenged on key points.
And there is a big final project, where we create yet another robot (robotic arm) from scratch, using everything that youâ€™ve learned in the course. You will also learn how to combine 2 robots together.

So, to go further with ROS2 and design custom robots and simulations, enroll in the course today!

You donâ€™t take any risk here, because you also get a 30-day money back guarantee if youâ€™re not fully satisfied - no questions asked.
See you in the course!

Note - this course is not for you if:
- You know nothing about ROS 2. In this case, I suggest you start with my â€œROS2 for Beginnersâ€ course (levelÂ 1).
Who this course is for:
ROS developers who know the basics and want to learn how to start building and simulating robots with ROS 2
Engineers/Teachers/Researchers/Anyone who has started with ROS 2 and wondering what to do next
ROS developers who are already using URDF, TF and Gazebo, but feel like they are not understanding everything they do
Anyone lost in the ROS2 docs

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Robotics

Edouard Renard

Instructor's Courses

Edouard Renard is a software engineer, entrepreneur, and robotics teacher. He really enjoys teaching new technologies to people and making complex stuff easy to understand. His method is simple and consists of only three words: step by step. Edouard knows how hard it can be to learn a new topic and just be lost in an ocean of information without knowing what to do. In his courses, he makes sure that you learn one step at a time, through practice, and that you also learn the best practices. He is passionate about robotics and found that it’s amazing how many cool projects you can do with a robot when you have the required programming knowledge.

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