Jupyter notebooks · ROS 2 · slides

Autonomous Systems and Mobile Robots — Tutorial

Hands-on tutorial accompanying the ASMR lecture: ROS 2, robot modelling, sensing, kinematics and localisation, built around one evolving robot.

The tutorial applies the lecture’s concepts in hands-on exercises, following the Perceive – Reason – Act loop. Students build a single robot platform from a bare model into a sensing, reasoning, acting system, on two parallel tracks:

1. Jupyter / Python — first-principles algorithms, plotting, controlled experiments.
2. ROS 2 / Linux — system integration, simulation, practical robot software on Ubuntu.

Topics: robot control and actuation · ROS 2 communication (topics, services, actions) · robot modelling (URDF/Xacro, TF) · sensors and uncertainty · forward and inverse kinematics · localisation and state estimation · system integration (Gazebo, MoveIt).

Structure: weekly sessions with a PID notebook and a Go1 quadruped exercise, a differential-drive robot in Gazebo, LiDAR, a UR3e arm with MoveIt; two take-home mini-labs (reactive maze navigation; probabilistic localisation and arm kinematics) as milestone checks.