| Course Name | Robotic Operating System |
| Course Code | 26CSA567 |
| Program | M. C. A. |
| Campuses | Amritapuri, Mysuru |
Introduction –The ROS Equation – History – distributions -difference from other meta-operating systems– services – ROS framework – operating system – releases. ROS Best Practices: ROS Local Setup guidelines, Using open-source packages with ROS, ROS Unit tests and ROS Bags.
UNIX commands – file system – redirection of input and output – File system security – Changing access rights – process commands – compiling, building and running commands – handling variables.
File system – packages – stacks – messages – services – catkin workspace – working with catkin workspace – working with ROS navigation and listing commands.
Navigation through file system -Understanding of Nodes – topics – services – messages – bags – master – parameter server. Introduction to the ROS Navigation Stack, Navigation stack-creating transforms.
Debugging of Nodes – topics – services – messages – bags – master – parameter – visualization using Gazebo – Rviz – URDF modeling – Xacro – launch files. Hardware Interface: Sensor Interfacing – Sensor Drivers for ROS – Actuator Interfacing – Motor Drivers for ROS. Case Studies: Using ROS In Real World Applications.
Course Description
This course introduces the Robot Operating System [ROS] including many of the available tools that are commonly used in robotics. With the help of different examples, the course should provide a good starting point for students to work with robots. They learn how to create software including simulation, to interface sensors and actuators, and to integrate control algorithms.
Course Objectives
Course Outcomes
| Cos | Description |
| CO1 | Explain the Role of ROS in real time scenario and its significance. |
| CO2 | Apply the Linux commands in ROS used in robotics. |
| CO3 | Discuss the concepts behind navigation through file system. |
| CO4 | Analyze and debug the node created using hardware for application. |
| CO5 | Analyze the issues in hardware interfacing and implement the working of specific application hardware using Hardware with ROS. |
CO-PO Mapping
| PO/PSO | PO1 | PO2 | PO3 | PO4 | PO5 | PO6 | PO7 | PO8 |
| CO | ||||||||
| CO1 | 2 | 1 | 1 | – | 1 | – | – | – |
| CO2 | – | 3 | 2 | 2 | – | – | – | – |
| CO3 | 1 | 2 | 1 | – | – | – | – | – |
| CO4 | 1 | – | 1 | 1 | – | – | – | – |
| CO5 | 1 | – | – | 1 | 1 | – | – | – |
Pre-requisites:
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