Mapping Module Addded (Robotisim#39)

Assignment Links added

Author: noshluk2

Curriculum.md

@@ -1,4 +1,4 @@
-# V1.0 ( yet to be completed )
+# V1.0
 - Module 1 Package **cpp_fundamentals**
    - Add Templates Example
    - Adding Linked List while in Module path planning
@@ -22,53 +22,9 @@
   - ros2_control : Different Controllers in multiple robot types
 - Module 7 Package **path_planning**
   - RRT , Potential Fields , PRM
-- Module 8 Package **navigation_and_behaviour_trees**
-  - Shapes Movement of Mobile Robots
-  - Coverage Algorithm
-  - RRT-star , DWA
-  - Behaviour Trees for motion planning + opencv based tasks as well
-  - Docking System
 - Module 9 Package **mapping**
-  - Perform Lidar to map
+  - Perform SLAM
   - 2D and 3D
   - Write algorithm for other mapping systems
   - ROS2 2D Mapping
   - ROS2 3D Mapping
-- Module 10 Package **slam**
-  - ros2 slam with Nav2
-  - Disucssion in deep detail
-  - perform hotel waiter type project
-  - Integerate your path planning algorithms into nav2
-  - 3D Slam ORB SLAM using Depth Cameras or any new Algo
-- Module 11 Package **drive_robotic_arm**
-   - Basic thoery of configuration spaces
-   - Jacobians , state, velocity spaces
-   - Show on Rviz of these spaces
-   - bring robotic arm and its controllers and move it from custom_robots package
-   - perform IK and FK using controllers manually on basic arm -> complex arm library
-   - Use ikpy and OMPL to perform tasks
-- Module 12 Package **multi_robotic_arms**
-   - Bring Moveit2 and perform special tasks with move group nodes
-   - Gazebo and Moveit Motion
-   - Baxter Multi Arm System
-- Module 13 Package **drive_drone**
-   - Depth Camera Processing
-   - 3D Lidar ground segmentations
-- Module 14 Package **visual_processing**
-   - Visual inertial odometery
-   - 3D motion and tracking
-   - Try to implement robotic arm perception by processing point clouds and moveit2
-- Module 15 Package **swarms**
-   - Mobie Robots and drones swamrs -> basic driving
-   - Flocking
-   - Motion Planning with swarms
-- Module 16 Package **software_interfaces**
-   - Carla
-   - Webots
-   - RTOS
-   - MicroROS
-   - Web
-- Module 17 Package **development_standard**
-   - Tests : unit, integeration , mocking
-   - REPs
-   - Docker , kubernetes , CI & CD

Lectures/Module_1.md

@@ -0,0 +1,68 @@
+# Module # 1 : Basics of C++ from Robotics Prespective
+- Package Created : *cpp_fundamentals*
+- Emphasis :
+    - People are good and writing code , but they are not organized
+    - Working with people who donot follow programming standards is so hard - you will experience if you work at a startup
+    - Senior always enforce standards and it is essential otherwise how would multiple people work upon it ?
+    - If you just get c++ learning out of this course , it is still one the best thing
+
+## V1.0
+- `a_welcome_course_how_you_will_learn`
+    - lectures , assignments , quizes , weekly meetings
+- `b_windows_mac_setup`
+    - Install vm and run ubuntu 22.04
+- `c_install_vscode`,plugins
+    - form now do all things on linux
+- `d_cpp_exe`
+    - CPP compilation and Execution
+    - *overlay* : process of CPP execution
+    - amazing , now look at this ros2 C++ node basic code
+        - Makes no sense right , but at the end of this module you will be very clear what are these things
+- `e_functions`
+    - *overlay* : As projects grow in complexity, we modularize our code for readability, reusability, and maintainability. Functions are the building blocks that help us organize logic into callable units.
+    - Functions
+- `f_namespaces`
+    - *overlay* : Avoiding name conflicts and organizing code in large projects with namespaces. Namespaces provide a way to group logically related objects and functions under a named scope.
+    - NameSpaces
+- `g_classes`
+    - *overlay* : Transitioning from procedural to object-oriented programming by encapsulating data and functionality within classes ,  benefits of using header files for class declarations to enhance modularity and code organization , Why it is needed when we have functions and namespaces
+    - file with main.cpp
+    - single cpp
+    - using header files
+    - Classes , headers
+- `h_templates`
+    - *overlay* : Learn how to write flexible and reusable functions and classes that can operate on different data types while maintaining type safety.
+    - Templates
+- `i_libraries`
+    - *overlay* : Leveraging the power of existing libraries to extend functionality without reinventing the wheel
+    - integerate popular -> show them process of line following
+    - create custom libraries
+- `j_multi_libs_cmakelist`
+    - *overlay* : Managing complex projects with multiple libraries using CMake. Strategies for organizing, linking, and managing dependencies
+    - Multiple libraries
+- `k_pointers`
+    - *overlay* : from raw pointers to smart pointers. Explore how pointers are used to manage memory and resources, and how smart pointers can automate memory management to prevent leaks.
+    - Pointers , simple and shared
+- `l_jargons`
+    - *overlay* :
+    - Jargons recap
+        - include directives
+        - Variables
+        - Member
+        - Constants
+        - Functions
+        - Namespaces
+        - Classes
+        - SharedPtr: A typedef for a shared pointe
+        - create_publisher<> : templates
+- `n_style_docs`
+    - *overlay* :
+    - Formating and linting
+----
+## Formating and linting
+- clang-format -i  f_formate.cpp
+- clang-tidy f_formate.cpp --fix
+---
+## Installation
+- sudo apt-get install clang-tidy
+- sudo apt-get install clang-format

Lectures/Module_2.md

@@ -0,0 +1,74 @@
+
+# Module # 2 : ROS2 Communication and Turtlesim ( V1.0 )
+- Package Created : *drive_mobile_robot*
+    - ros fundamentals + basic Mathematics programming
+        - Finding what messages to write
+        - ROS2 nodes communication , launch files .
+    - Mathematics Fundamentals for robot Motion
+    - Bring Mathematics from module_5 to this simulation
+- Questions
+    - How to find out which topic to publish on and why?
+        - We have generic convenstions.
+    - Type of message udnerstanding ?
+---
+## Lectures
+
+- `a_module_intro`
+- `b_ros2_installation_workspace_source`
+    - Install ros2 humble , workspace robotics_ws , package creation , source
+- `c_package_creation_sourcing`
+    - Development Environment setup
+        - [screen] : How sourcing works
+- `d_basic_node_communication`
+    - CMD line publishing
+    - ROS2 topic + rqt_graph
+        - Nodes Communication with One Another
+    - CPP custom Nodes for publishing
+    - Hosla , start from totally basic nodes and make smaller changes
+    - *overlay*
+        - [screen] : write down how nodes communicate upon nodes and topics
+        - [face] :
+            - What topics to publish and where to use which one -> important question
+            - Why ROS have wrappers on simple C++ data types ?
+- `e_turtlesim_node_drive_node`
+    - First write node to drive
+    - Then show teleop node -> its code on github as well
+    - *overlay* :
+        - [screen] : Process of nodes working before writing code
+        - [face] :
+            - Here you saw that already written code does amazing job and interestingly very usefull code is already written
+            - But we need to learn how it is written in detail and then utilizing open source code will start to make sense
+- `f_launch_files`
+    - Launch single tbsim + drive Node -> then add  teleop node as well
+    - Launch Multi tbsim + drive Node -> reach the error point of topic name issues
+    - *overlay* :
+        - [screen] : Launch file working written
+- `g_multi_robot_drive`
+    - Arguments , remappings
+    - *overlay* :
+        - Hear all endings , overlay for all of these
+            - Ga -> single sim multi Robot
+            - Gb -> problem is publish topic is not changing
+        - [screen] : Multi Robots when ever we need we need to seperate so communication is not streamlined like namespaces.
+- `h_github_communities_issue _templates`
+    - *overlay* :
+        - [screen]
+        - [face]
+- `i_turtlebot3_setup`
+    - Drive
+    - Gazebo visualize
+    - Help them not freak out
+    - *overlay* :
+        - [screen] : explain turtlebot3 folders i little bit , sourcing , models
+        - [face] : Lets bring in a robot package which will not make sense but from topics prespective there is alot to understand , Hosla keh we will understand in detail how it is running
+<!-- - `k_multi_tb3sim`
+    - Bring in multi tb3sims in a gazebo world using launch files
+    - Break down each file launching
+    - Drive them straight
+    - show how we can drive them in sqaures -->
+
+---
+## Formating and linting
+- clang-format -i  f_formate.cpp
+- clang-tidy f_formate.cpp --fix
+---

Lectures/Module_3.md

@@ -0,0 +1,52 @@
+
+# Module # 3 : Transforms and URDF( V1.0 )
+- Package Created : *custom_robots*
+    - Transforms
+    - URDF basic Shapes
+        - Mobile Robot
+        - Robotic Arm
+    - URDF 3D Models
+        - Explaining Physical Properties with Gazebo and effects
+
+---
+## Lectures
+
+- `a_module_intro`
+- `b_static_transforms`
+    - Transforms relations explain
+        - rotations
+        - translations
+    - Publish a dynamic transform
+    - build and enviornment for robotic scene representation with transforms
+- `c_urdf`
+    - Create transforms using urdf file , makes life easier
+- `d_robot_structure_tf2`
+    - Robot Body design without Shapes
+    - *overlay*
+        - [screen] : Explain the connection between different joints
+- `e_visual_body_shapes`
+    - Add visual and collision tags to visualize robot
+- `f_links_and_joints`
+    - State publishing of static and dynamic things
+    - *overlay* :
+        - [screen] : Explain link and a joint -> then jsp and rsp
+<!-- - `_robotic_arm_urdf`
+    - Create URDF of robotic arm without Shapes
+    - *overlay* :
+        - [screen] : Lets take a look into Robotic Arm Example -->
+- `g_gazebo_robot_drive`
+    - Write Node to  drive Robot through Joint States
+    - Add ros2_control Plugin
+    - Add inertial parameters
+    - Discuss parameters
+    - drive robot
+    - *overlay* :
+        - [screen] : Gazebo is what 3D enviornmnt looks like
+        - [face] :
+            - Real robots have motor actuation here we have joint values on which we publish and robot joints move.
+
+---
+## Formating and linting
+- clang-format -i  f_formate.cpp
+- clang-tidy f_formate.cpp --fix
+---

Lectures/Module_4.md

@@ -0,0 +1,74 @@
+
+# Module # 4 : Sensor Data Processing ( V1.0 )
+- Package Created : *robot_sensing*
+    - Real World Sensor Data processing
+    - Gazebo Simulation Sensor Data Processing
+    - ROS2 Bags
+---
+## Lectures
+
+- `a_module_intro`
+- `b_tb3_simulation_sensors_exploration`
+    - Echo multiple sensors
+    - Understand lidar data
+    - subscribe lidar data , Log Things
+    - *overlay*
+        - [screen] : What Is 2D lidar data
+- `c_lidar_data_processing`
+    - Echo multiple sensors
+    - Understand lidar data
+    - subscribe lidar data , Log Things
+    - *overlay*
+        - [screen] : What we recieve - how to make it control with minimum
+- `d_maze_building_robot_positioning`
+    - Build Maze
+    - Keep Robot spawn location
+    - *overlay*
+        - [screen] : Gazebo working system and spawning of robot and maze model
+        - [face] :
+            - Gazebo is intersting software to work with
+- `e_maze_solving`
+    - Explain different points at which robot will take action, stop at those points
+    - *overlay*
+        - [screen] : B part -> problems we have -> how we will solve it
+            Cases at which we process lidar data
+        - [face] : We will not make our robot take actions based on sensor data
+- `f_camera_data`
+    - Visualization . data understanding , logging , different image sizes
+    - *overlay* :
+        - [screen] : image sizes , bandwidth effect on size change
+        - [face] : Lidar Data is interesting but lets move to more complex data a 3D image which is used for Vision puposes.
+- `g_line_gazebo`
+    - Blender model designing
+    - Gazebo Importing and launching with Robot
+    - *overlay* :
+        - [screen] : High level explanation , how things are happening
+- `h_line_segmentation`
+    - *overlay* :
+        - [screen] : How canny edge detector works
+- `i_boundary_extraction`
+    - *overlay* :
+        - [screen] : How algo works
+- `j_mid_point_extraction`
+    - *overlay* :
+        - [screen] : How canny algo works
+- `k_basic_error_control_algorithm`
+    - We will make it smooth in next module
+    - *overlay* :
+        - [screen] : How algo works
+        - [face] : Lets make our robot move , using contol algorithm a propoertional - in upcoming module we will have detail control algroithm understanding
+- `l_rosbags`
+    - Recording sensor data
+
+- `m_sensors_into_custom_robots`
+    - lidar,camera
+- `n_depth_camera`
+    - We will make it smooth in next module
+    - *overlay* :
+        - [screen] : How algo works
+        - [face] : Lets make our robot move , using contol algorithm a propoertional - in upcoming module we will have detail control algroithm understanding
+---
+## Formating and linting
+- clang-format -i  f_formate.cpp
+- clang-tidy f_formate.cpp --fix
+---