Johns Hopkins University 3 credits Mechanical Engineering
This course seeks to introduce students to open-source software tools that are available today for building robotic systems. The project-based course covers the following frameworks: Robot Operating System (2), Gazebo (Ignition) simulation, Orocos Real-Time Toolkit (RTT) and Orocos Kinematics and Dynamics Library (KDL). A different interface is covered each week with hand-on lectures and assignments. These include: topics, services, actionlib, launch files, transformation manager, URDF, dynamic simulation, simulation plugins, control loops design, kinematics and dynamics implementations. Student must bring a Linux laptop with ROS2 to each lecture and have intermediate programming skill level in C/C++. Familiarity with Linux, GIT and CMake is also recommended. Contact the instructor by email for approval and inquire about operating system and software versions. Prerequisite(s): EN.530.646 AND EN.601.463/663
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