TurtleBot Plus & ROS

RoboCup@Home Education with

TurtleBot Plus & ROS

The OpenCourseWare is developed to be a hands-on (project-based learning) course to learn service robotics by building the robot. The reference robot hardware is a heavily customized TurtleBot 2 system. Completed with open source ROS software framework, application sample codes and learning courseware, the system is an ideal learning platform for: autonomous navigation, visual perception, speech interaction, mobile manipulation, AI, machine learning and cloud computing.

This work is mainly supported by IEEE RAS CEMRA (Creation of Educational Material in Robotics and Automation) Project. All contents are open source.

Resources

Introduction

Introduction

Introduction | TurtleBot Plus | RoboCup@Home Education Open Courseware for Service Robotics 2020

Software Systems Setup

Software Systems Setup

Software Systems Setup | TurtleBot Plus | RoboCup@Home Education Open Courseware for Service Robotics 2020

Speech Interaction

Speech Synthesis

Speech Recognition

  • Pocketphinx (offline)
  • Google (online)
  • Xunfei (online)

Sound Localization

Speech Interaction | TurtleBot Plus | RoboCup@Home Education Open Courseware for Service Robotics 2020

Visual Perception

Image Processing

  • Camshift Color Tracking
  • Face Detection and Face Recognition
  • People Detection
  • Deep Learning based Object Detection

Depth Perception

  • Point Cloud
Vision | TurtleBot Plus | RoboCup@Home Education Open Courseware for Service Robotics 2020

Navigation

Navigation

  • SLAM Map Building
  • Autonomous Navigation
Navigation | TurtleBot Plus | RoboCup@Home Education Open Courseware for Service Robotics 2020

Robot Arm

Robot Arm

  • Joint Control
  • Forward Kinematics
Robot Arm | TurtleBot Plus | RoboCup@Home Education Open Courseware for Service Robotics 2020

Applications

Applications

  • People Tracking (Follow Me)
  • Partybot
Applications | TurtleBot Plus | RoboCup@Home Education Open Courseware for Service Robotics 2020