======= 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 demonstrations of the semestral work on 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 work such as localization, mapping and planning (see the program for details). Most of the regular labs are accompanied by homework. If a homework is uploaded after the deadline, it is rewarded by lower amount of points, proportional to the delay. [[ semestral_work | Semestral work ]] deadline is before the beginning of the labs in the eleventh week for simulation part. If the solution of the semestral work is uploaded after the deadline, it is rewarded by 0 points. Both homework and semestral work should be uploaded via the [[https://cw.felk.cvut.cz/upload/|upload system]]. Practical part of the semestral work will be demonstrated in labs during thirteenth and fourteenth week. Uploading the own solution of homework and the semestral work (which satisfy minimum requirements - it does what it should do) is mandatory credit requirement. Homework and the semestral work can be solved either using [[ remote_access | remote access to lab computers ]] (preferred option) or [[ ros | your own laptop ]] (Ubuntu 20.04 is the only supported OS).


/*[[https://gitlab.fel.cvut.cz/kubelvla/b3m33aro_semestral|]]*
Semestral work assignment is in the eighth week, the solution has to be [[https://cw.felk.cvut.cz/upload/| uploaded]] before the beginning of the labs in the thirteenth week. You can obtain up to 22 points for the solution. Each group of students (maximum size is 3) is obliged to upload own code and a short report describing proposed pipeline.

/*
 consisting of explicit answers to a few questions: Report should consist of answers for the following questions: ”(i) How do you estimate and update the 3D position of the markers? (ii) How do you update the position of the robot in relation to markers?
 (iii) How do you plan the trajectory for the robot through the course? (iv) How do you execute the planned trajectory?
(v) How do you evaluate the progress of proposed solutions?”. 
The maximum length of the report is three A4 pages containing not more than 2700 characters (i.e. one and a half normalized pages [[https://cs.wikipedia.org/wiki/Normostrana|normostrany]]) and an arbitrary amount of figures (captions are also counted as characters, axis titles are not counted).
*/



<note important>[[ ros | Guide on how to install ROS on your computer with Ubuntu 20.04 or how to run it on the computers in labs ]]</note>
/*<note important>[[courses:aro:tutorials:turtlebots|Guide to the TurtleBot robotic lab.]] </note>*/
===== Program =====

^ labs ^ date ^ tutor ^ labs plan ^ links ^
|  1 | 14.2./17.2. | Franta | Intro to ROS I | {{ 01_python_ros_intro.pdf | slides }} \\ [[homework01 | homework 01]] \\ {{ 2019-02-20-11-00-56.zip | bagfile }} \\ {{ lab01_pkg.zip | example code}} |
|  2 | 21.2./24.2. | Franta | Intro to ROS II | {{ 02_ros_intro.pdf | slides }} \\ {{ lab01_pkg.zip | example code}} \\  \\ [[ homework02  | homework 02]] |
|  3 | 28.2./3.3. | Tomas | ICP SLAM I | [[ homework03 | homework 03 ]] \\ {{ tf_slides.pdf | slides on tf }} (recap) |
|  4 | 7.3./10.3 | Tomas  | ICP SLAM II |  |
|  5 | 14.3./17.3.  | Franta | Frontier detection | [[ homework04 | homework 04]] \\ {{aro_frontier.zip | example code}} |
|  6 | 21.3./24.3. | Franta | Path planning | [[ homework05 | homework 05]] \\ {{aro_planning.zip | example code}} |
|  7 | 28.3./31.3. | Vit | Path following | [[ homework06 | homework 06]] \\ {{ :courses:b3m33aro:tutorials:aro_hw_06.zip | example code}} |
|  8 | 4.4./11.4. | Bedrich | Introduction to real robots |  |
|  9 | 11.4./14.4. | Franta | [[ semestral_work | Semestral work - Assignement]] (E-132) | |
|  10 | ??.4./21.4. | Bedrich | //optional consultations// (E-130) | |
|  11 | 25.4./28.4. | Bedrich | //optional consultations// (E-130)| |
|  12 | 2.5./5.5. | Bedrich | //optional consultations// (E-130)| Milestone I (max 10 points) |
|  13 | 9.5./12.5. | All | Demonstration on real robots (E-130) | Milestone II (max 10 points)|
|  14 | 16.5./19.5. | All | Demonstration on real robots (E-130) | |



====== Lecturers ======

|{{:courses:aro:tutorials:frantisek_nekovar.jpeg?70 |http://mrs.felk.cvut.cz/people/nekovar}} | [[http://mrs.felk.cvut.cz/people/frantisek-nekovar|František Nekovář]] head of the labs. Exploration path planning lab tutor. |
|{{:courses:b3b33vir:tomas_petricek.jpg?70 |http://cmp.felk.cvut.cz/~petrito1}} | [[http://cmp.felk.cvut.cz/~petrito1/|Tomas Petricek]] is the ICP SLAM lab tutor. |
|{{:courses:aro:tutorials:vit_kratky.jpeg?70 |http://mrs.felk.cvut.cz/people/kratky}} | [[http://mrs.felk.cvut.cz/people/vit-kratky|Vít Krátký]] is the exploration and path following lab tutor. |
|{{:courses:aro:tutorials:himmel.png?70 |himmebed@fel.cvut.cz}} | [[himmebed@fel.cvut.cz|Bedřich Himmel]] is technical support staff |