Tech Slow Start
08:00 AM - 08:30 AM
Mingle, get wifi connected and make sure everything is working
How do we make mobile robots go? This education-focused workshop will walk through the process of configuring a robot to navigate its environment, step by step, including: teleoperation, map building, localization, costmaps, global planning, local planning, and high level coordination. Each participant will get a unique simulated robot to configure. For every component covered, there will be an introductory presentation covering the key variables and a guide of how to set up a ROS package to enable the robot to navigate successfully.
Registration Sold OutDon't forget the power cord and travel adapters (as needed). If you want, you can bring a joystick to be used for teleoperation, but you can also just use a keyboard.
The preferred operating system is Ubuntu 22.04 / ROS 2 Iron, but you may be able to use other combinations with some effort.
This is the version shipped with ROS 2 Iron.
You should install and compile the packages listed in the Software Setup Instructions listed below, using vcstool file.
You're attending a ROS conference, so it is assumed you'll have some familiarity with ROS 2 command-line tools, such as compiling with colcon, running and writing launch files and the structure of YAML files. C++ will be discussed but you will not need to write any code.
This workshop is intended for people seeking an introduction to ROS Navigation. If you've been to multiple ROSCons, given a talk at ROSCon or already have experience running robots around using Nav, this workshop may be too basic for you.
Mingle, get wifi connected and make sure everything is working
Generate a robot, run it in simulation, visualize in RViz and explore the ROS graph.
Configure teleop for your robot and collect a bag file of the simulated environment.
This section will cover converting the bag file into a static map and provide advice for getting loops to close.
Coffee break and/or continue working
Given the newly created map, configure a minimalist costmap with just the static map, and run the global planner offline to get initial global plans.
nom nom nom
This portion is reserved for answering questions and solving problems.
Use the static map to properly configure the robot's localization.
Configure the global and local costmaps to integrate sensor data.
Configure the local planner and learn how to debug issues.
Coffee break and/or continue working
Participants will learn about behavior trees, state machines and the other high level coordination needed for reliable navigation.
Wrap up work