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ECE470_LAB

This repo provides code and manual for ECE470: Introduction to Robotics.

1. Lab schedule

  1. Lab1: Pick and Place experiment through Teach Pendent to solve Hanoi problem
  2. Lab2: Get started with ROS (Node, Topic, Message) by Turtlesim (Optional)
  3. Lab3: The Tower of Hanoi with ROS
  4. Lab4: Forward Kinematics of UR3e
  5. Lab5: Inverse Kinematics of UR3e
  6. Lab6: Image Processing (filtering, edge detection, segmentation and classification)
  7. Lab7: Camera Calibration

Important

Due to limited time of lab session, it is strongly recommended to get prepared for lab session.

  1. read lab manual before session and know what to do.
  2. It is encouraged to complete your code before lab.
  3. Any questions are welcomed.

2. Preparation

3. Ubuntu and ROS (Optional)

if some of you guys want to debug in your own laptop, it is recommended to install ubuntu and ROS. Here show you some basic procedures.

3.1 VMware Workstation

  1. Download VMware Workstation here. Other virtual machine software (like VirtualBox) is fine. Recommended version: 16 Pro or 15 Pro.
  2. Install it and activate license by yourself.

3.2 Ubuntu 20.04 & ROS

  1. Download ubuntu Desktop image (.iso) in official website here or Tsinghua Mirror.
  2. Open VMware and create a new virtual machine.
  3. Follow the steps in install.md in reference folder.

4. TODO

  • modify lab6_manual and lab7_manual
  • integrate camera snapshot into ROS for convenience
  • install camera dependency on Virtual machine
  • lab4 manual error, return value
  • lab7: rosrun relative path error
  • lab7: ur3e no fresh data when use ckcamera
  • lab7: response very slow when calling opencv_display()