This repository contains lab assignments completed for the Software Architecture for Robotics course as part of my Master's program in Advanced Robotics at Centrale Nantes.
The labs in this repository focus on various topics of ROS2 covered in the course, launch / remapping, topic subscription / publisher, services and TF.
Lab_1/remapping- Launch Files / RemappingLab_2/mirror- Topics / Subscriber / PublisherLab_3/puppet- Services / TFLab_4/navigation- Nav2
Below are some key visuals from the lab assignments, including plots, diagrams, or screenshots/GIFS to illustrate the results and methodologies.
The goal was to remap some joint topics and write a launch file for controlling them with a slider
The goal was to write a publisher for the joints of the one arm and subscribe for the other so the second arm can copy the first one
The goal was to to call an inverse kinematics service to solve for a desired posed created by a tf next to first arm
The goal was to define the correct frames in the nav2 configuration file so the robot can be moved autonomous. Then this was applied for a multi-robot scenario
This repository is for showcasing purposes. To explore the code and reports:
git clone https://github.com/ioloizou/software-architecture-for-robotics.gitFeel free to browse through each lab folder to view the detailed documentation and code for each assignment. If you don't have the university VM you will not be able to run it as you will be missing many dependecies.
For any questions, reach out to me at:
- Email: [email protected]
- LinkedIn: Ioannis Loizou