CS225b

CS225b: Robot Programming Lab

Turtlebot hardware platform used in CS225b.

CS225B is a project-based robot programming course. Over the course of 4 projects, we learned to implement a significant part of the ROS navigation stack on the Turtlebot. This included:

Project 1:

ROS basics (nodes, transforms, visualization)

Project 2:

Gradient-based planner with A*
Local obstacle grid
Local controller using trajectory rollout

Project 3:

A rewrite of the ROS amcl node
Odometry error modeling
Global localization
Adaptive particle filter
'Kidnapped robot' (robot recognizes when it's been moved)

Project 4:

GraphSLAM using karto scan matching and g2o optimization

See the full source code for the projects on Github.