Mobile Robotics Engineers

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Instructor

Luqman

Course Overview

Welcome to your pathway to becoming a Robotics Software Engineer. This comprehensive program is designed to elevate your software engineering skills, focusing on practical robotics applications using C++ and ROS2. You’ll begin with core concepts and progress through advanced topics, providing you with a deep understanding of software development for robotics.

Modules Overview:

Robots URDF and Kinematics Modeling

  1. Explore URDF for robot modeling, add 3D meshes for mobile robots and robotic arms, and understand physical properties through Gazebo simulations.

Robotics Sensing and Processing

  1. Work with ROS2 to process sensor data, learning both online and offline data processing methods essential for real-world robotics.

Control Systems with ROS2 Control

  1. Study control systems including PID, LQR, and optimal control techniques, and implement these in various robotics projects using ros2_control with multiple controller types.

Version Control with GitHub

  1. Master GitHub for version control, collaborative development, and best practices in managing robotics projects.

Mapping and SLAM

  1. Learn to perform SLAM for both 2D and 3D environments, write mapping algorithms, and utilize ROS2 for robust 2D and 3D mapping.

Path Planning Algorithms

  1. Discover path planning algorithms, including RRT, A*, and Grid Sweep, for effective navigation within robotic applications.

Navigation

  1. Integrate mapping, planning, and control to enable mobile robot navigation using Nav2, building towards autonomous robot movement.

Algorithm Development :

  1. Developing Path Planning , Control System and Sensor Fusion algorithms

Throughout the learning path, you’ll engage in hands-on assignments that reinforce key concepts from each module.

Our clear submission process and dedicated Discord channel ensure you receive ongoing support and feedback on your journey.

Course Content

  • Learning Path Guidelines

    • Welcome to Mobile Robotics Engineering Learning path

      00:03:00

    • Discord Private Channel

      00:03:00
  • Robots URDF and Kinematics Modeling

    • Module Introduction

      00:01:00

    • Understanding Transforms

      00:04:00

    • Static Transforms with TF2

      00:08:11

    • Mobile Robot and Transforms in URDF

      00:05:08

    • Robot Structure Tree with URDF

      00:05:08

    • Creating a Mobile Robot with URDF

      00:05:37

    • Creating a Mobile Robot with URDF

      00:05:37

    • Adding Visual Body Elements in URDF

    • URDF changes for Gazebo

      00:05:12

    • Gazebo Plugins and why?

      00:02:44

    • Mobile robot drive pluging for Gazebo

      00:04:07

    • Gazebo vs Rviz Comparison

      00:00:49

    • Gazebo vs Rviz Comparison

      00:00:49

    • Simulation vs Real Robot Challenges

      00:00:58

    • Mobile Robot Development Components and Wiring

      00:02:13

    • Building robot

      00:11:11

    • Electric Mottor Driving Components

      00:02:21

    • Programming the MicroController using Platformio

      00:04:40

    • Porgramming Motor Controlling

      00:05:32

    • Understand difference between ROS2 , Platformio , Gazebo

      00:01:19

    • MicroROS example on ESP32

      00:05:02

    • MicroROS node Communication

      00:06:50

    • MicroROS complete Server Client Example

      00:06:33

    • Velocity sending standard in ROS2 Ecosystem

      00:01:16

    • Creating cmd_vel topic through microROS

      00:06:38

    • Sending Velocity to drive Robot

      00:06:31

    • Module 1 : Recap

      00:01:21

    • URDF and Robot Creation in ROS 2

  • Robotics Sensing and Processing

    • Module Introduction

      00:00:36

    • Project Maze Solving

    • Alias for easy compilation and building

    • Lidar Sensor on Turtlebot3

      00:06:11

    • Lidar Data Understanding

    • Lidar Data Grouping

    • Maze Creation

    • Maze and World Arrangement

    • Maze Solving Understanding

    • Maze Solving Using Lidar

    • As a developer you write good code.

      00:00:58

    • Maze Solving Code Design

    • Restructuring Maze Solving project Code

      00:09:48

    • Project Vision based Line Following

    • Camera Sensor Data Understanding

      00:04:42

    • Gazebo Line World

    • Line Segmentation

      00:05:23

    • Boundary Extraction

    • Mid Point Extraction

    • Line Following

    • Simulation to Real Robot Positioning

      00:00:56

    • Real Robot Sensors

      00:00:30

    • Encoder Sensor Interface on ESP32

      00:03:41

    • IMU Sensor Interfaceon ESP32

      00:02:52

    • IMU Sensor Output Analysis

      00:01:45

    • Creating libraries for IMU and Encoders

      00:09:54

    • Analysing output of our sensors

      00:00:36

    • Why we need MicroROS

      00:00:30

    • MicroROS Interface for our Robot

      00:08:39

    • Analysing MicroROS communication

      00:02:34

    • Connecting Robot Upper Portion for Lidar

      00:03:06

    • Why do we need a raspberry pi ?

      00:01:06

    • Installing Ubuntu on RPI

      00:07:05

    • Visualizing Lidar Data in RVIZ2

      00:03:35

    • Understanding Lidar Data visually

      00:05:59

    • Processing Lidar Data by splitting

      00:03:40

    • ESP32 MicroROS and RPI ROS2 Communication

      00:09:48

    • Generating Odom from Encoders

      00:10:52

    • Sensor Data Manipulation for Robot Control

  • Control Systems with ROS2 Control

    • Module Introduction

    • C++ Efficient Programming Habit

    • ROS2 Controllers Requirments

    • Custom Velocity Controllers

    • Controllers Interfaces

    • Testing Custom Controllers

    • Revisting Ros2_control interface

    • Control System a subject

    • Feedback Controlling for Go to Goal

    • Linear Goal

    • Improving Robot Reaction

    • Proportional Controller

    • 2D Planer Goal

    • Improving Reaction

    • Optimizing Go to Goal Behaviour

    • Starting a complex Algorithm

    • Introduction to Linear Quadratic Control

    • Architecture of LQR

    • Creating LQR Library

    • LQR ROS2 Node

    • Running LQR with Tb3

    • Enhancing Robot Control for Smooth Motion

  • Mapping and SLAM

    • Mapping Introduction

    • What is Occupancy Grid

    • Custom Occupancy Grid Node

    • Basic Mapping Algorithm

    • Lidar to Grid Node

    • Cartographer Mapping Basic Working

    • ROS2 Slamtoolbox Online Async Mapping

    • Parameters Values Effect on Mapping

    • PNG Image to 2D map

    • 3D Rtab Visual Mapping

    • SLAM for Slambot

      00:00:58

    • Recording Data for mapping

      00:03:42

    • Gmapping on ROS2 Bag

      00:05:32

    • Building the Map with Slambot

      00:04:13

    • Hardware Inaccuracies

      00:00:44

    • Odometry Testiing for SLAMBot

      00:03:12

    • Improving SLAM for our robot

      00:07:52

    • ROS 2 Mapping with SLAM

    • Types of Mapping and next steps

  • Version Control with Github

    • Introduction to Version Control

    • How Github is useful ?

    • Creating a Custom Repository

    • Why we have Branches ?

    • Practices in Branches

    • Getting History and Reverting Back

    • Commit Back

    • Submodules for Multi level Repositories

    • Adding Submodules

    • Running Packages with Dependencies

    • Bash Scripting

    • Github Actions for automation

    • Creating Github Actions

  • Path Planning Algorithms

    • Module Introduction Path Planning

    • Grid Sweep Algorithm

    • Visualizing Grid Sweep

    • Improving Grid Sweep

    • File Organizing for Better Code

    • Astar Path Planning Algorithm

    • Linkedin List in C++

    • Astar Interfacing Code

    • Multi Queues

    • Completing Astar with ROS2 Interface

    • Rapidly Exploring Random trees Algorithm

    • RRT Node Library

    • Writing Node Class

    • Unit Testing Node Class

    • RRT Working Revisit

    • Writing RRT

    • RRT ROS2 Node Integeration

    • Testing RRT Class Functionality

    • Path Planning with A* and RRT

  • Navigation

    • Module Introduction Navigation

    • Nav2 Architecture and Software Development

    • Running Nav2 Stack Example

      00:08:47

    • Nav2 Software Development Steps

      00:14:53

    • Nav2 Example Reflection

      00:06:53

    • Nav2 Example Configurations

      00:06:09

    • Nav2 Nodes Comamnder

      00:14:15

    • Nav2 Custom Path Planner

    • Adding Path Planner to Nav2 Part a

    • Adding Path Planner to Nav2 Part b

    • Adding Path Planner to Nav2 Part c

    • Shifting to Real Robot for Autonomous Navigation

    • Mapping and Control Architecture

    • Control Loop for Slambot Navigation

    • Finalizing our Slambot Control Architecture

    • Velocity Control Implementation

    • Introduction to ROS2 Control Framework

    • Changes in Control Architecture for ROS2 Interface

    • Mock Control Testing

    • Introduction ROS2 Control Plugin

    • Implementing Hardware Interface Plugin

    • Disecting Custom Diffbot Plugin

    • Testing Slambot to Rviz

    • Our Current system Walkthrough

    • Mapping on our SlamBot

    • Navigation for our custom SlamBot

    • Loading Saved Map

    • Parameters Tuning

    • Testing Different Parameters

    • Complete SLAM and Navigation

    • Final thoughts on Autonomous Navigation

  • Custom Algorithm Development

    • Module Introduction to Sensor Fusion

    • Why we need Kalman Filters

    • Important concepts of Statistics and Kalman Filters

    • Implementation of Linear Kalman Filter

    • State estimation along X and Y axis

    • Noise Effect on KF

    • More advance approach

    • Intorduction to EKF

    • Implementation of Extended Kalman Filter

    • Adding Functionality in Custom EKF

    • ROS2 Node for Utilize EKF

    • ROS2 EKF Package for Robot Localization

    • IMU and GPS Sensor Fusion for TurtleBot3

  1. 5

    issaiass

    Course shows in depth understanding of ROS 2 middleware integrating common algorithms from the scratch, it gives me more knowledge of insights on how to develop ROS 2 Robots.

Paid
  • Course Level Intermediate
  • Lessons 180
  • Duration 30 hr
  • Language English
  • Enrolled 26
  • Additional Resource 0
  • Last Update February 12, 2026
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