Semester.ly

Johns Hopkins University | EN.530.707

Robot System Programming

4.0

credits

Average Course Rating

(4.67)

This course seeks to introduce students to open-source software tools that are available today for building robotic systems. The project-based course covers the following frameworks: Robot Operating System (2), Gazebo (Ignition) simulation, Orocos Real-Time Toolkit (RTT) and Orocos Kinematics and Dynamics Library (KDL). A different interface is covered each week with hand-on lectures and assignments. These include: topics, services, actionlib, launch files, transformation manager, URDF, dynamic simulation, simulation plugins, control loops design, kinematics and dynamics implementations. Student must bring a Linux laptop with ROS2 to each lecture and have intermediate programming skill level in C/C++. Familiarity with Linux, GIT and CMake is also recommended. Contact the instructor by email for approval and inquire about operating system and software versions. Required Course Prerequisite/Corequisite: EN.530.646 and EN.601.436/663. No audit option.

Spring 2014

(4.75)

Spring 2015

(4.88)

Spring 2023

(4.37)

Spring 2014

Professor: Louis Whitcomb

(4.75)

This course provided an in-depth analysis of finite element systems and the programs really helped students visualize the preprocessing and post processing functions of FEM. The skills learned during this course will be very useful in the future for students. However, lectures were basically straight from the textbook with little variation, the professor was absent more than five times, and there was not enough time al otted for completing exams. It was suggested that more computer-based assignments be integrated into the course schedule, that the professor be in attendance, and that there be an even distribution of work throughout the course. Prospective students should be proficient in math.

Spring 2015

Professor: Louis Whitcomb

(4.88)

The best aspects of the course included the expert knowledge of the instructor and the clear articulation of the basics of fracture mechanics. Students felt that expectations for assignments were not clear and that the course could have been organized better so that al of the topics in the syl abus were covered. Suggestions for improvement included having better feedback on graded assignments and providing more opportunities for problem solving in order to apply theories learned. Prospective students should al ocate enough time to complete assignments as the course is chal enging. Students should be comfortable with continuum mechanics and applied mathematics.

Spring 2023

Professor: Simon Leonard

(4.37)