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Course Overview

In this course, you will learn the fundamentals of ROS2 through two engaging projects:

  1. Turtlesim Draw Shapes: Learn to control a simulated turtle to draw various shapes.
  2. Autonomous SuperTuxKart: Program a racing game to play autonomously using OpenCV.

Later, the course will be expanded to include Autonomous SuperTuxKart with Imitation Learning.

Prerequisites

Hardware:

  • A laptop running Windows 10/11 or Ubuntu 22.04 LTS.
  • Minimum specifications: 8GB RAM, 30GB of available storage.

Installation Instructions

Note: If you are using Ubuntu 22, you can skip step 1.

Step 1: Install Ubuntu 22 for Windows (WSL)

  1. Open PowerShell in Administrator mode.

  2. Enter the following commands:

    wsl --install

and

wsl --set-default-version 2
  1. Reboot your computer.
  2. Install Ubuntu 22 from the Microsoft Store, open it, and set a password (e.g., 123).

Step 2: Update Ubuntu Packages

Open the Ubuntu terminal and run:

sudo apt update && sudo apt upgrade -y

This command updates all the packages of the operating system.

Step 3: Install Ansible

Ansible is a YAML-based automation tool that will install all necessary dependencies:

sudo apt install -y ansible

Step 4: Install Required Dependencies

Download the installation script using wget:

wget https://fh-aachen.sciebo.de/s/hfe8Xv1X4wBPRo6/download -O install-webots_spot.yaml

Run the Ansible playbook to install dependencies:

ansible-playbook install-webots_spot.yaml -e 'user=<your_username>' -e 'ansible_become_pass=<your_password>'

Replace <your_username> and <your_password> with your actual username and password.

Course Content

Each session will last 2-3 hours.

  1. Introduction and Setup

Learn the basics of Python programming, Linux terminal usage, and ROS2. We will also guide you through the installation of all required tools.

  • Hands-on session in: ros2_basics.ipynb
  1. Turtlesim with ROS2

alt text

Explore the Turtlesim package in ROS2, and work on creating various shapes using provided hints.

  • Hands-on session in: ros2_turtlesim.ipynb
  1. Autonomous SuperTuxKart with ROS2 and OpenCV

alt text

Use ROS2 and OpenCV to programmatically control SuperTuxKart. Compete with your peers for a fun and exciting learning experience.

  • Hands-on session in: ros2_stk.ipynb

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