Autonomous-Robotics-Course

README.md

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+# Autonomous Robotics Course
+## Instructor: [Eng.Khaled Gabr](https://github.com/khaledgabr77) | Robotics Corner Academy
+
+![Course Level](https://img.shields.io/badge/Level-Beginner-green.svg)
+![ROS](https://img.shields.io/badge/skills-ROS-green.svg)
+![Robotics](https://img.shields.io/badge/skills-Robotics-green.svg)
+![Language](https://img.shields.io/badge/Language-Python-blue.svg)
+![Language](https://img.shields.io/badge/Language-C++-blue.svg)
+
+<details>
+  <summary>click to show course content</summary>
+
+    ### Course Content
+
+    - Introduction to Linux, Terminal, and Shell
+    - Python Programming
+    - C++ Programming
+    - Introduction to ROS and ROS installation
+    - ROS Core Concepts:
+      - Master
+      - Nodes
+      - Topics
+      - Messages
+      - Services
+    - ROS Labs (rostopic, rosmsg, rosnode, rosservice)
+    - Creating a ROS WorkSpace and Packages
+    - Writing a ROS Publisher and Subscriber
+    - Writing a ROS Service and Client
+    - Creating a Custom ROS Message
+    - ROS Tools:
+      - Launch files
+      - ROS Bag
+      - RQT
+      - Remap
+    - Gazebo, RVIZ: creating a custom robot using Gazebo
+    - Creating a custom robot using URDF
+    - Adding Gazebo plugins with ROS
+    - Kinematics with ROS
+    - Turtlebot3 Lab
+    - ROS project
+    - TF ROS
+    - 2D and 3D Frames
+    - Transformations
+    - Localization:
+      - Kalman Filter
+      - MCL
+      - AMCL Package
+    - SLAM
+    - Navigation
+</details>
+
+<img src="https://cdn-icons-png.flaticon.com/512/2814/2814666.png" width="30" />
+
+## ROS Tasks
+
+> Note: All nodes written in C++ and Python also.
+
+### Task 1
+* [count_ws](Task_1/count_ws)
+  * publisher and subscriber to start count from 100 until the user uses CTRL C.
+  * ![](Task_1/count_ws/rosgraph.png)
+* [nomeer_ws](Task_1/nomeer_ws)
+  * publisher and subscriber using String msg("I am Learning Robotics and ROS") until the user uses CTRL C.
+  * ![](Task_1/nomeer_ws/rosgraph.png)
+
+---
+### Task 2
+* [nomeer_robot_ws](Task_2/nomeer_robot_ws)
+  * move_pkg with robot_py.launch file.
+  * publish data to the /cmd_vel topic.
+  * Modify the code in order to print the odometry of the robot.
+  * Python file that creates a publisher that indicates the age of the robot
+
+    ![](Task_2/nomeer_robot_ws/rosgraph.png)
+
+---
+### Task 3
+* [control_nomeer_roboot_ws](Task_3/control_nomeer_roboot_ws)
+  * Users can input a linear (x) velocity in the range [2,6] (floating point allowed)
+  * Users can input an angular (z) velocity [2,6] (floating point allowed)
+  * another node to publish data to the /cmd_vel topic
+
+  ![](Task_3/control_nomeer_roboot_ws/rosgraph.png)
+
+---
+### Task 4
+* [nomeer_ws](Task_4/nomeer_ws)
+  * publisher and subscriber to count from 0 until the user uses CTRL C.
+  * message nodes that publish Complex(real, imaginary) numbers.
+  * a service that can count the number of words, ex: i love you >> 3, you are the best >> 4. [![](https://img.shields.io/badge/-issue-critical.svg)](https://github.com/nomeera/Autonomous-Robotics-Course/tree/master/4.ROS/Tasks/Task_4/nomeer_ws/src/n_words_pkg)
+
+  ![](Task_4/nomeer_ws/rosgraph.png)
+
+---
+### Task 5
+* [gazebo](Task_5/src)
+  * first gazebo task
+  * create Model(Robot) & Environment
+  * Adding the Environment + Model  inside a World
+
+  <img src="Task_5/src/nomeer_gazebo_pkg/default_gzclient_camera(1)-2023-02-11T20_32_22.012985.jpg" width="600">
+
+---
+### Task 6
+* [URDF](Task_6/src/nomeer_xacro_pkg/urdf/)
+  * [Tasks 6.1:](/4.ROS/Tasks/Task_6/src/nomeer_xacro_pkg/urdf/Robot_1/nomeer1_robot.xacro)
+    - Create custom robot using URDF/XACRO the robot should have:
+      - 4 driver wheels 
+      - Normal Camera, the camera should be in front of robot.
+      - Lidar should be at the center of robot.
+
+        ![](Task_6/src/nomeer_xacro_pkg/urdf/Robot_1/urdf_task1.jpeg)
+        ---
+  * [Tasks 6.2:](Task_7/src/robot_description/urdf/robot.xacro)
+    - Create custom robot using URDF/XACRO the robot should have:
+      - 4 driver wheels OR 2 driver wheels and 1 driven free wheel(Castor wheel)
+      - Normal Camera, the camera should be in front of robot.
+      - the robot should have a tour at least 1m height attached with last edge of robot.
+      - 1 Depth Camera(Xbox camera, RealSense Camera,..), the camera should be attached to the tour and at least at height 1m of robot.
+      - Lidar should be at the center of robot.
+
+        ![](Task_7/src/robot_description/urdf/robot.jpeg)
+
+---
+### Task 7
+* [Gazebo Plugin](/4.ROS/Tasks/Task_7/src)
+  * Add Gazebo Plugin (lidar, camera, diff) for [Task 6.2](Task_7/src/robot_description/urdf/robot.xacro) Robot. ([gazebo.xacro](4.ROS/Tasks/Task_7/src/robot_description/urdf/gazebo.xacro))
+  * download .stl or .dae file for the lidar and added to mesh folder also added to your URDF
+  * create your world in gazebo
+  * launching the robot in your world ([robot.launch](Task_7/src/robot_gazebo/launch/robot.launch))

Task_1/count_ws/src/CMakeLists.txt

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+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake

Task_1/count_ws/src/SubCount_pkg/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(SubCount_pkg)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES SubCount_pkg
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/SubCount_pkg.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(Subscriber src/sub.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(Subscriber
+   ${catkin_LIBRARIES}
+ )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_SubCount_pkg.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)