This is the first slide in the series on Robot Control using ROS tutorial. In this first modul, we give an introduction to the topic, including the definition of Robot, Control, ROS (Robot Operating System), and the goal of this tutorial. You can find the tutorial on our youtube playlist: https://www.youtube.com/watch?v=yL4Rllx70vs&list=PL4T23RsIw5Qz2wDcZHZMVA33hjkzwx_Iq Next slide: https://www.slideshare.net/jagorobotika/robot-control-using-ros-kinematic-modelling-of-mobile-robots

1. Robot Control using ROS:
an Introduction
By:
Ahmad Ataka
PhD Student of Robotics at King’s College London
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2. Motivating Questions
• What is robot and robotics ?
• What does it mean by “robot control”?
• What is ROS and why do we use it?
• Can we control a robot using ROS?
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3. Robot and Robotics
• Robotics
• science which studies the intelligent connection
between perception and action [Springer’s Handbook
of Robotics]
• Robot or Robotics System:
• able to extract perception regarding itself and its
surrounding world via sensor
• able to execute action, which includes locomotion or
manipulation, via actuator
• able to intelligently connects perception and action via
programming, planning, and control architecture
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4. Infographic Style
• Moves to specific location
• Follows specific path
• Avoids obstacle
• Grasps and manipulates
object
• Interacts with environment in
a certain way
• Performs collaboration with
others
Robot’s desired behaviour:
makes a system
behaves as expected
Control
Robot Control
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5. What is ROS and Why do we use it
Robot Operating System:
Framework for writing robot software
[http://www.ros.org]
ready-to-use functionality
& algorithms
Libraries
debugging, visualizing,
simulating, recording
Tools
file system architecture,
data transfer/
communication
Conventions
world-wide users, active
forum
Community
wiki and tutorial
Resources
free to use and contribute
Open Source
support various sensors
/ actuators / robots
Drivers
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6. Can we control a mobile robot using ROS?
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7. Can we control a manipulator using ROS?
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8. Can we control multiple robots using ROS?
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9. What this tutorial is and isn’t
This tutorial isn’t
• a formal theoretical robotics course
• a formal control theory course
• a ROS tutorial
• a coding tutorial
• a robot assembly tutorial
This tutorial is
✓ an implementation of basic
algorithm to a real problem
in robot control
✓ a bridge between
theoretical and practical
sides
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10. What do you need
Computer with
Ubuntu
(14.04 or 16.04)
ROS (Indigo or Kinetic)
Basic Maths and Physics
𝜋
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11. What will we learn
Kinematics modelling of mobile robot01
Basic position and orientation control02
Basic navigation towards the goal03
Obstacle avoidance04
05 Basic navigation of multi-agent robots
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12. bit.ly/jagorobotika
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