https://cw.fel.cvut.cz/b202/ 2026-04-19T00:12:59+0200 https://cw.fel.cvut.cz/b202/ https://cw.fel.cvut.cz/b202/lib/tpl/bulma-cw/images/favicon.ico text/html 2021-02-18T08:28:04+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b202/courses/aro/tutorials/homework01?rev=1613633284&do=diff Homework 01 Your task will be to explore a [ bagfile ] containing data from a laser scanner (obtained from a real turtlebot). Once you have familiarized yourself with the contents of the bagfile, you should create a node that will collect and process the laser scanner data. After collecting the specified number of samples, the node will plot the collected data. You can find a more detailed description of the individual sub-tasks below. text/html 2021-02-22T13:52:53+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b202/courses/aro/tutorials/homework02?rev=1613998373&do=diff Homework 02 Your task will be to create a simple control algorithm for the Turtlebot in a simulator. Something similar to what you can see here: [ Video of a Turtlebot moving about. ] Start by downloading a template [ source code ]. There, you will find a basic suggested structure with many useful comments. The TODOs are there to guide you on what you should put into the code. It is not required that your code looks exactly as hinted in the template. If you can come up with a better solution/… text/html 2021-03-11T11:44:34+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b202/courses/aro/tutorials/homework03?rev=1615459474&do=diff Homework 03 - ICP SLAM Simultaneous Localization and Mapping When a robot explores an unknown environment, it has to solve localization and mapping simultaneously, hence the name Simultaneous Localization and Mapping (SLAM). We will focus on the online SLAM problem$\to$$\to$$\to$$\to$$\mathtt{R}, \mathtt{t}$$\mathtt{y}_i = \mathtt{R}\mathtt{x}_i + \mathtt{t}$$i = 1, \ldots, N$$\mathtt{x}_i \in \mathcal{X} \subseteq \mathbb{R}^D$$\mathtt{y}_i \in \mathcal{Y} \subseteq \mathbb{R}^D$$(\mathtt{x}_… text/html 2021-03-31T13:40:31+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b202/courses/aro/tutorials/homework04?rev=1617190831&do=diff Homework 04 - Exploration, path planning, and path following Subtasks summary Your task in this homework is to implement algorithms for occupancy grid exploration, path planning and path following. You are given nodes that publish an existing occupancy grid and that subscribe to robot movement control in simplified simulation. A launch file and several scripts are provided to test your implementations, and interfaces of your implementations should be compatible with the Semestral work. The t… text/html 2021-01-27T16:45:29+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b202/courses/aro/tutorials/learning_on_gpu_servers?rev=1611762329&do=diff Learning on GPU Servers There are GPU servers available via remote access (ssh). Log in via one of these commands (use your faculty username): ssh -X username@cantor.felk.cvut.cz ssh -X username@taylor.felk.cvut.cz Singularity images may also be located under text/html 2021-04-12T16:15:27+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b202/courses/aro/tutorials/remote_access?rev=1618236927&do=diff Remote Access to Lab Computers and Quick Start with ROS To access the lab computers remotely, we suggest the methods described below. See more information if the suggested methods don't work. Get a Computer The lab computers are typically not running, therefore the computer has to be remotely started. To start a computer, text/html 2021-04-12T10:23:51+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b202/courses/aro/tutorials/ros?rev=1618215831&do=diff Run ROS locally On Your Computer Linux sudo apt-get install singularity-container <https://sylabs.io/guides/3.5/user-guide/quick_start.html> <https://github.com/hpcng/singularity/releases/tag/v3.5.3>Singularity image singularity shell --nv path/to/robolab_melodic.simg --nv source /opt/ros/aro/setup.bash source ~/workspace/aro/devel/setup.bash text/html 2021-05-24T11:26:03+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b202/courses/aro/tutorials/semestral_work?rev=1621848363&do=diff Semestral work - Frontier-based Exploration The main goal of the semestral work is to implement high-level exploration node explorer, which autonomously explore an unknown environment and localize barbie doll. The node should regularly publish the [ occupancy grid] to topic $b_i < b_\mathrm{empty}$$b_i \geq b_\mathrm{occupied}$ text/html 2021-04-14T16:52:16+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b202/courses/aro/tutorials/start?rev=1618411936&do=diff Labs Outline Labs consist of 8 regular labs intended for practical exercises, 5 optional lessons intended for semestral work consultations, last two labs are intended for bonus demonstrations of the semestral workon the real TurtleBots (in case that epidemilogical condition allows for physical presence in Robolab E-132). Active participation in the regular labs is mandatory. The content of regular labs is the implementation of ROS nodes, which solve well defined sub-problems of the semestral w… text/html 2021-01-22T12:03:29+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b202/courses/aro/tutorials/turtlebots?rev=1611313409&do=diff TurtleBot Lab Guide Booking a robot <https://cw.felk.cvut.cz/brute/student/reservation.php>BRUTE Turning a robot on SSH login to the robots Use the following command to login to your booked robot (turtle04 in this case) from one of the lab computers (machine name 'pc', username 'user'). Logging into the turtlebots is done via your main CTU username and CTU password. The commands here are shown as displayed in a terminal, so do not type the prompt (e.g.