https://cw.fel.cvut.cz/b212/ 2026-04-26T09:37:48+0200 https://cw.fel.cvut.cz/b212/ https://cw.fel.cvut.cz/b212/lib/tpl/bulma-cw/images/favicon.ico text/html 2022-02-19T15:20:46+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b212/courses/b3m33aro/tutorials/homework01?rev=1645280446&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 publish the collected data in batch using a ROS message. You can find a more detailed description of the individual sub-tasks below. text/html 2022-02-24T11:32:45+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b212/courses/b3m33aro/tutorials/homework02?rev=1645698765&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 template package and the simulator [ packages ]. There, you will find a package with basic structure and a script 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 yo… text/html 2022-03-29T18:14:39+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b212/courses/b3m33aro/tutorials/homework03?rev=1648570479&do=diff Homework 03 - ICP SLAM aro_slam/launch/icp_slam.launch loss: point_to_pointloss: $(arg loss) Simultaneous Localization and Mapping (SLAM) When a robot explores an unknown environment, it has to simultaneously acquire a map of the environment and localize itself within the map, hence the name $\mathtt{R}^*, \mathtt{t}^* = \mathrm{argmin}_{\mathtt{R}, \mathtt{t}} \sum_i \|\mathtt{R}\mathtt{x}_i + \mathtt{t} - \mathtt{y}_i \|^2$$\{(\mathtt{x}_i, \mathtt{y}_i)\}_i$$\mathtt{x}_i \in \mathcal{X} \s… text/html 2022-03-22T13:57:43+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b212/courses/b3m33aro/tutorials/homework04?rev=1647953863&do=diff Homework 04 - Frontier detection Your goal in this task will be to implement detection of frontiers in an occupancy grid. See template in aro_frontier in package and below for explanation of occupancy grid. The aro_msgs package contains ROS messages and services for further homeworks and has to be present in your workspace. For debugging purposes, you can use text/html 2022-03-21T15:39:25+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b212/courses/b3m33aro/tutorials/homework05?rev=1647873565&do=diff Homework 05 - Path planning Your task in this homework is to implement algorithms for path planning in occupancy grid. Use provided template in . Let's rehearse: We will not concert ourselves with trajectory for now, just the path. Planning will be performed on a 2D occupancy grid. text/html 2022-04-12T21:32:47+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b212/courses/b3m33aro/tutorials/homework06?rev=1649791967&do=diff Homework 06 - Path following The path planner produces a collision-free path leading the robot towards the goal. However, it is a sequence of waypoints that does not explicitly says how the path should be followed. To navigate the robot through the environment, the path has to be transformed in the sequence of actuators commands leading to following the path towards the goal. In case of the robot used within this assignment, it means a sequence of commands consisting of forward linear velocit… text/html 2022-02-17T15:39:14+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b212/courses/b3m33aro/tutorials/remote_access?rev=1645108754&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 2022-03-07T14:21:49+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b212/courses/b3m33aro/tutorials/ros?rev=1646659309&do=diff Run ROS locally At Labs At labs (e.g., E130, E132), Robot Operating System (ROS) is available through Singularity containers. Open terminal and run singularity image with Ubuntu 20.04 + ROS Noetic: singularity shell --nv /opt/singularity/robolab/noetic (--nv is needed for graphical output, e.g. RViz) text/html 2022-04-14T17:44:15+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b212/courses/b3m33aro/tutorials/semestral_work?rev=1649951055&do=diff Semestral work - Frontier-based Exploration The main goal of the semestral work is to implement high-level exploration node explorer in aro_exploration package, which autonomously explore an unknown environment. The published [ occupancy grid] on topic /occupancy will be used for the final evaluation by comparison with ground truth data. The exploration node will employ nodes implemented during regular labs (SLAM, frontier, planning, following). The simulation semestral work will be carried out… text/html 2022-05-02T10:33:52+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b212/courses/b3m33aro/tutorials/start?rev=1651480432&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 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 s… text/html 2022-04-25T15:31:28+0200 Anonymous (anonymous@undisclosed.example.com) https://cw.fel.cvut.cz/b212/courses/b3m33aro/tutorials/turtlebots?rev=1650893488&do=diff TurtleBot Lab Guide Booking a Robot <https://cw.felk.cvut.cz/brute/student/reservation.php>BRUTE Working with TurtleBots ~/workspace/aro/opt/ros/aro/opt/singularity/robolab/robolab_noetic_2022-03-31 singularity shell /opt/singularity/robolab/robolab_noetic_2022-03-31 ws=~/workspace/aro mkdir -p "${ws}/src" cd "${ws}/src" # Get and modify course-specific packages here. cd "${ws}" catkin init catkin config --extend /opt/ros/aro catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release catkin build …