ROS - Level 2

Difficulty: ⭐️⭐️⭐️☆☆


This course builds on the fundamental basics of ROS that were introduced in the first course. The tf (transform tree) system is covered in detail to enable the student to envisage its powerful capability of tracking and transforming systems comprised of multiple elements moving relative to each other; be they a single robot’s joints and links or else a system of robots moving in the world frame. From there the navigation stack is looked at in detail to see how an autonomous mobile robot can be fully controlled in ROS from sensor and motor level up to high level obstacle avoidance behaviour. The concepts developed will be applied to an actual mobile robot, the Turtlebot3 “Burger” running ROS on its onboard microcomputer.

Learning outcomes:

By the end of this course, students will:

  • Understand the navigation principles of wheeled mobile robots
  • Use 2D Lidars
  • Create a map of an environment with a real robot


ROS 1 or prior experience with ROS that is equivalent to the contents of ROS 1

Curriculum For This Course

      1. Overview of Mobile robotics
      2. Introduction to the ROS navigation stack
      1. ROS command line tools
      2. turtlesim command line practice
      3. A ROS navigation node tree and tf
      4. Coordinate frames
      5. tf
      6. tf demo with turtlesim
      1. Writing a broadcaster
      2. Writing a listener
      3. Adding a frame
      1. Using a real laser range finder
      2. System setup – LRF and Raspberry Pi
      3. Integrating with URDF, model and tf
      1. Setting up the burger robot
      2. Reading the wheel odometry
      3. Creating simple move command
      1. Creating a map of an environment with gmapping
      1. Introduction to SLAM
      1. Robot state publisher and motion commands
      2. How to move with move_base
      1. Costmaps
      2. Configuration
      3. Path planning
      1. Obstacle avoidance
      2. Adaptive path planning
      3. Basics of DATMO
      4. Testing the burger robot


Group name Start date Session duration Number of sessions Standard price


Below are the courses that you may want to take after this course:


Tokyo Techies Lecturer

Abbi Hamed

Robotics engineer

Did a research degree in medical robotics and then got into mobile robotics after moving to Japan. Expertise is quite broad rather than specialist having worked on robot touch sensors, laser distance sensors, mechanical design, microcontrollers, robot operating system (ROS), mobile robot navigation and other things.

Has experience in teaching over several years as a personal tutor and teaching assistant;