CourseWare Wiki courses:aro:tutorials

courses:aro:tutorials:alternative_install

Anonymous (anonymous@undisclosed.example.com) — 2025-02-20T09:56:53+0200

Alternative (Unsupported) Installation Options This page lists alternative installation options for running ARO Singularity containers on non-Linux systems. the teaching team does not promise any support for these options.to the forum We welcome suggestions for improvements of these guides that would crystallize from the community discussions on forums. If you have concrete updates for this page, please contact the teaching team.

courses:aro:tutorials:homework01

Anonymous (anonymous@undisclosed.example.com) — 2025-02-17T13:24:06+0200

Homework 01 - Scan processing Your task will be to implement first part of a reactive_controller node (located in student-packages/aro_reactive_control) that collects and processes 2D laser scanner data. As part of this task, you will implement ROS subscriber and publisher to access the data and provide the results. You can find a more detailed description of the individual sub-tasks below.

courses:aro:tutorials:homework02

Anonymous (anonymous@undisclosed.example.com) — 2025-02-13T14:11:22+0200

Homework 02 - Reactive controller Your task is to create a simple reactive behavior for the Turtlebot robot in a simulator. The robot should move in the environment without colliding with obstacles. The onboard laser scanner should be used to detect obstacles in the surrounding of the robot and based on the obstacle proximity one of the following actions should be performed:

courses:aro:tutorials:homework03

Anonymous (anonymous@undisclosed.example.com) — 2025-03-10T09:49:55+0200

Homework 03 - ICP SLAM Your task will be to finish an ICP SLAM node that provides the robot with basic localization and mapping. Responsible lecturer: Martin Pecka (peckama2@fel.cvut.cz) 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}^* = \underset{\mathtt{R}, \mathtt{t}}{\mathrm{argmin}} \underset{i}{\sum} \|\matht…

courses:aro:tutorials:homework04

Anonymous (anonymous@undisclosed.example.com) — 2025-03-17T14:20:56+0200

Homework 04 - Factorgraph localization Your task will be to finish the prepared factorgraph localization pipeline to allow more precise localization of the robot and markers placed in the world. Responsible lecturer: Martin Pecka (peckama2@fel.cvut.cz) Relevant lectures:$x$$y$$yaw$$x_t$$t$$m^r$$z^{\ast}_t$$t$$w2r$${\displaystyle \underset{x_0,\ldots,x_T,m^r}{\mathrm{argmin}} \sum_t ||w2r(x_{t+1}, x_t) − z^{odom}_t||^2_{\Sigma^{odom}_t} + \sum_t ||w2r(m^a, x_t) − z^{m^a}_t||^2_{\Sigma^{m^a}_t…

courses:aro:tutorials:homework05

Anonymous (anonymous@undisclosed.example.com) — 2025-03-31T13:36:13+0200

Homework 05 - Path following Your task will be to finish an implementation of path following node responsible for generation of actuator inputs leading to safe following of a given path. Responsible lecturer: Vít Krátký (kratkvit@fel.cvut.cz) 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 …

courses:aro:tutorials:homework06

Anonymous (anonymous@undisclosed.example.com) — 2025-04-22T12:59:24+0200

Homework 06 - Path Planning Responsible lecturer: Tomáš Musil (musilto8@fel.cvut.cz) Your task will be to finish a node that finds a collision-free path to a given goal by running the A* algorithm on an occupancy grid. This will later come in useful for both finding paths towards exploration goals and for safely returning home in the semestral work.

courses:aro:tutorials:homework07

Anonymous (anonymous@undisclosed.example.com) — 2025-04-14T13:46:32+0200

Homework 07 - Frontier detection Responsible lecturer: Tomáš Musil (musilto8@fel.cvut.cz) Your task will be to finish a prepared node for finding potential goal positions that should lead the robot to explore an unknown environment. Frontier-Based Exploration Where should the robot go to expand its map? The vast majority of approaches to this problem are based on the idea of

courses:aro:tutorials:lab01

Anonymous (anonymous@undisclosed.example.com) — 2025-02-17T18:55:31+0200

Lab 01 During this lab, you should learn how to use the Singularity, the tmux, the terminal commands of Robot Operating System (ROS), and how to program a simple python subscriber/publisher node. Singularity The Singularity is software for virtualization via containers that allows you to program and test ARO homeworks and semestral work without installing all ROS dependencies on your computer.

courses:aro:tutorials:lab02

Anonymous (anonymous@undisclosed.example.com) — 2025-02-09T15:39:46+0200

Lab 02 During this lab, you should learn how to start some additional features of ROS work such as timers and services. Do you have any questions regarding the last week's lab or the homework? Robot Operating System (ROS) new buzzwords There are several new key aspects/buzzwords to know from today's lab:

courses:aro:tutorials:lab03

Anonymous (anonymous@undisclosed.example.com) — 2025-03-07T16:37:27+0200

Lab 03 Factor Graphs During this lab, you should get a bit deeper understanding of the factorgraph concepts presented during the lectures. Pytorch installation If you have any working Pytorch and matplotlib installation on your PC, then you're ready for the lab.

courses:aro:tutorials:lab04

Anonymous (anonymous@undisclosed.example.com) — 2025-02-05T18:17:37+0200

Lab 04 During the lab we will touch on the following topics: At the seminar, we will deal with not only simulated examples, but also try to align point cloud scans taken from a real-world environment. Lab task Please, make sure you have the Singularity environment from

courses:aro:tutorials:lab05

Anonymous (anonymous@undisclosed.example.com) — 2025-03-17T13:41:33+0200

Lab 05 During this lab, you should learn how to work with factorgraph-based SLAM and how to run it in the simulator. Relevant lectures: , . Factorgraph SLAM in action The whole Tartan SLAM Series is a great study material for those who want to dive deep into how SLAM in 3D is done in state-of-the-art robotics.$res_t^{gps} = ?$$res_t^{compass} = ?$$res_t^{prior} = ?$$res_t^{mri} = ?$$res_t^{motion} = ?$$u_t$$res_t^{loop} = ?$$re…

courses:aro:tutorials:lab06

Anonymous (anonymous@undisclosed.example.com) — 2025-02-09T16:27:50+0200

Lab 06 Work with real robots + semestral work assignment. During this lab, you will sign a form certifying that you have been told the rules of the hardware lab. If you missed this lab, it is your responsibility to contact Bedrich Himmel and find an alternative date for the lab tutorial.

courses:aro:tutorials:lab07

Anonymous (anonymous@undisclosed.example.com) — 2025-02-09T16:29:55+0200

Lab 07 During this lab, you should learn how to work with action servers and clients. ROS action server and client The ROS action servers/clients provide the ability to execute and interface preemptable tasks that can take a long time to execute. It also allows you to get a regular feedback from tasks that are currently being executed. Examples of such a task can be moving a robot to a target location or following a given path with a robot. You can check out the official python tutorial

courses:aro:tutorials:lab08

Anonymous (anonymous@undisclosed.example.com) — 2025-04-07T14:22:26+0200

Lab 08 During this lab, you should learn how to visualize data within ROS and how to debug when something goes wrong. Simulation Time An important concept in robotics is the so-called simulation time. On real robots, time always advances according to the rules of universe

courses:aro:tutorials:lab09

Anonymous (anonymous@undisclosed.example.com) — 2025-02-09T16:40:06+0200

Lab 09 Path Planning and Frontier Detection Homework 6 + 7 assignment Read and try to understand the assignment of the homework HW6 and HW7. Please note that due to schedule changes in May, the deadline for HW6 for Thursday labs is already on Monday!

courses:aro:tutorials:lab10

Anonymous (anonymous@undisclosed.example.com) — 2025-04-28T14:23:20+0200

Lab 10 Planning During this lab, you should get a bit deeper understanding of the planning concepts presented during the lectures.

courses:aro:tutorials:remote_access

Anonymous (anonymous@undisclosed.example.com) — 2025-02-13T12:14:22+0200

Remote Connection to a Virtual Lab PC This approach can help you in case you do not have a device capable of running the ARO workspace (Singularity). We have prepared a virtual machine you can connect to using remote desktop. And it can run the whole ARO codebase.

courses:aro:tutorials:ros

Anonymous (anonymous@undisclosed.example.com) — 2025-01-08T18:23:04+0200

Using ROS To successfully use ROS, you need to be able to perform basic tasks in Linux. Refer e.g. to MRS Cheatsheet to get a quick reference guide. Singularity 101 What is Singularity Singularity is a virtualization technology somewhat similar to Docker. But there are some key differences:

courses:aro:tutorials:semestral_work

Anonymous (anonymous@undisclosed.example.com) — 2025-05-19T17:29:58+0200

Semestral work - Frontier-based April-tag localization The goal of the semestral work is to implement high-level exploration node explorer.py, which will utilize algorithms implemented during the semester to explore an unknown maze and localize a hidden Apriltag. The exploration node will employ nodes implemented during regular labs (factorgraph localization, ICP SLAM, frontier detection, planning and path following). The simulation semestral work will be carried out individually (no teams…

courses:aro:tutorials:start

Anonymous (anonymous@undisclosed.example.com) — 2025-03-13T12:58:28+0200

Labs Outline Labs consist of 10 regular labs intended for practical exercises and last 3 labs are intended for demonstrations of the semestral work on the real TurtleBots. Active participation in the regular labs is mandatory. The content of regular labs is the implementation of algorithms, 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 u…

courses:aro:tutorials:turtlebots

Anonymous (anonymous@undisclosed.example.com) — 2025-04-14T17:39:58+0200

TurtleBot Lab Guide Booking a Robot Technical Warnings DOs: vimnanogit pushgit pull DON'Ts: * Don't copy large files over the wifi to or from the robot. You don't need any large files there. The Singularity image is already predownloaded in /local