Laboratories

Overview

Lab 1 - Development Environment & First C++ Program

• Introduction to laboratory
• Linux Command Line Interface (CLI)
• C++ Review
• CLI compilation
• CLion and ROS 2 introduction

Responsible: Ing. Petr Šopák

Lab 2 - Project Workflow: Git, CMake & Team Project

• Git Basics and workflow
• Simple CMake project
• Unit tests
• Online repository
• Course project template

Responsible: Ing. Petr Šopák

Lab 3 - Git & C++ Project Template

• Hands-on Git workflow on a remote service (GitHub / GitLab / Bitbucket)
• Team exercise: branching, conflicts, pulls, pushes
• Bootstrap the C++ project structure used in later labs

Responsible: Ing. Jakub Minařík

Lab 4 - Data Capture & Visualization (ROS)

• ROS 2 in CLI
• Simple Node, Publisher, Subscriber
• RViz, Data Visualization

Responsible: Ing. Petr Šopák

Lab 5 - Motor, Kinematics & Gamepad

• Motor Control
• Forward and Inverse Kinematics
• Gamepad

Responsible: Ing. Jakub Minařík

Lab 6 - Line Estimation

• Line Sensor Usage
• Line Position Estimation
• Line Sensor Calibration

Responsible: Ing. Adam Ligocki, Ph.D.

Lab 7 - Line Following & PID

• Line Following Control Loop Implementation
• PID controller tuning

Responsible: Ing. Petr Šopák

Lab 8 - Midterm Test (Line Following)

• Good Luck!

Responsible: Ing. Adam Ligocki, Ph.D.

Lab 9 - Obstacle Detection & Corridor Following

• Understanding LiDAR / ultrasonic range data
• Basic obstacle detection
• Reactive corridor following

Responsible: Ing. Petr Šopák

Lab 10 - Orientation-Aware Corridor Navigation

• IMU data and yaw estimation
• Turning behaviour at corridor corners

Responsible: Ing. Petr Šopák

Lab 11 - Visual Navigation Using ArUco Markers

• Camera data via image_transport
• ArUco marker detection
• Symbolic decision making at intersections

Responsible: Ing. Petr Šopák

Lab 12 - Midterm Test (Corridor Following)

• Good Luck!

Responsible: Ing. Adam Ligocki, Ph.D.

Final Exam - Maze Escape

• Good Luck!

Responsible: Ing. Adam Ligocki, Ph.D.