Designing Robotics Algorithms in MATLAB

Course Highlight

This one-day course is for engineers designing mobile robotics algorithms for Robot Operating System (ROS) enabled simulators and robots. Topics include: 

  • Listing the design workflows possible with Robotics System Toolbox
  • Communicating with ROS and Gazebo
  • Building and testing mobile robotics algorithms
  • Designing algorithms for execution and data sharing

Prerequisite

Attended "Comprehensive MATLAB" or having working experience with MATLAB and basic knowledge of Robot Operating System (ROS)

Course Outline

Day 1 of 1

Connecting to Robot Operating System (ROS)

Objective: Exchange data between MATLAB and ROS environments.

  • Starting and shutting down ROS
  • Subscribing to topics
  • Publishing messages to topics
  • Requesting and providing services

Building Closed-Loop Algorithms

Objective: Design a simple motion planning algorithm in MATLAB using data from ROS.

  • Creating a waypoint following algorithm
  • Testing algorithms in MATLAB
  • Testing algorithms in ROS enabled robots and simulators

Design Considerations

Objective: Explore different methods to control the execution and data transfer of algorithms.

  • Creating event-based algorithms
  • Executing algorithms at a fixed rate
  • Sharing data

Incorporating Built-In Algorithms

Objective: Use mobile robotics algorithms included with Robotics System Toolbox.

  • Building an occupancy grid
  • Creating a probabilistic roadmap
  • Tracking a path with the pure pursuit algorithm

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