Module 0 Start Here!
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Welcome to the Industrial ROS2 Manipulation Lab (20:05)
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Request Access to Your Private GitHub Repository
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What Problem This Lab Solves
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What You Will Build
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How to Use This Course
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Install Docker Desktop WSL2 and VS Code on Windows 11
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Install Docker and VS Code on Ubuntu 22.04
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Clone the Repository and Run lab doctor
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Launch Your First Demo
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Troubleshooting GUI Docker Volumes
Module 1 ROS2 Fundation
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How These ROS2 Concepts Are Used in the Lab
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Differences Between ROS and ROS2 (10:51)
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ROS and ROS2 Distributions
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Create a ROS2 Workspace (9:19)
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Create a C++ Package and Node (37:39)
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Topic Publisher/Subscriber in C++ (37:30)
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Create a Python Package and Node (30:00)
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Topic Publisher/Subscriber in Python (21:47)
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Create a Custom Interface (11:47)
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Create a Service in Python (15:38)
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Create a Service in C++ (17:55)
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ROS2 Parameters (29:57)
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Create a Launch File (30:50)
Module 2 Docker for Robotics
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You Do Not Need to Understand Docker First
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Why Docker for Robotics (22:32)
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What Is Docker Under the Hood (13:19)
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How to Run a Container (17:45)
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Volumes: Making Data Persistent (19:26)
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GUI Applications in Docker (12:43)
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Multi-Container Robotics with Docker Compose (33:59)
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Using Docker in VS Code (13:31)
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Common Docker Commands Cheatsheet
Module 3 Design a Robotic Cell in Simulation
Module 4 ROS2 Control and MoveIt2
Module 5 Develop a Blind Pick and Place with 6-Axis Robot
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Get the GitHub Repo if you are Running Locally in Ubuntu 22.04 and Use MoveIt Setup Assistant
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The Anatomy of a Blind Pick-and-Place Cycle
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Run Pick-and-Place with the UR5 and the Robotiq (8:26)
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Collision Objects, and the Planning Scene (23:37)
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Upgrading the MoveIt Config for Industrial Planners
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Cartesian Motion: Commanding the HOW (30:20)
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Choose Your Planner: PTP, LIN, and the Trap Pilz Sets
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Checkpoint: What Is Still Fragile
Module 6 Develop a Vision Guided Pick and Place
Module 7 The Behavior Tree Architecture for Robotics
Module 8 Capstone Portfolio
Module 9 Simulation to Reality: Build real Robotics task with 6Axis Robot (FR3WML + SoftGripper + Suction cup)
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How to Study This Module Without Owning the Hardware
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Simulation to Reality — Building a Real Industrial Pipeline (9:06)
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Setup Communication Between PC and Robot Controller (8:22)
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Understanding the Robot Driver Layer (26:54)
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Create a Bridge Between MoveIt and the Robot Controller (33:50)
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Gripper Hardware Setup (6:54)
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Bridging Digital Outputs to ROS2 Gripper Control (20:54)
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Adding a Gripper and Camera to the FR3WML (18:17)
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Designing a Real ROS2 Robot Architecture with MoveIt (12:21)
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Integrating a Gripper into MoveIt (47:59)
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Control Robot Speed from ROS2 and MoveIt (24:33)
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Move the Real Robot with MoveIt Inverse Kinematics (22:42)
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Jetson Orin Nano Setup for RealSense Streaming (31:24)
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From Camera Streaming to Local AI Inference (29:47)
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Create the Inference Container on Jetson (21:44)
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3D Pose Estimation with YOLO and RealSense (17:56)
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Handling Real Images Noise and 3D Pose Publishing (17:29)
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6D Pose Estimation with YOLO and RealSense (36:21)
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Industrial Pick and Place Framework Bottle and Crate (29:08)
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From Monolithic Code to an Industrial Behavior Tree Framework (28:41)
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Camera Hand-Eye Calibration: From Simulation to Real (15:30)
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From Blind to Vision-Driven Pick-Place (Bin Picking) (19:17)
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Optimizing the Pick-and-Place: Speed, Smooth Motion, and Architecture (13:46)
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What You Have Built in the Full Stack Robotics Program
Bonus — Model Your Own Robot: URDF from Scratch to ros2_control
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Introduction to URDF (7:41)
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Strategy: Modelling a Robot Nobody Has Modelled (8:20)
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Your First Links and Joints, From Primitives (12:48)
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Visualize the Robot in RViz (13:44)
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Joint State and Robot State Publisher (10:24)
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Complete the 6-Axis Arm (19:59)
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Simplify the Model With Xacro Macros (15:05)
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Model a Gripper as End Effector (22:56)
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Make Your Packages Portable
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Inertias That Do Not Wreck the Simulation (22:01)
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The Gazebo Plugin and the ros2_control Seam (14:12)
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Spawn Your Robot in Gazebo
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ROS2 Control: Joint Group Position Controller (54:23)
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ROS2 Control: Gripper Action Controller (16:20)
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ROS2 Control: Joint Trajectory Controller (12:20)
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Send trajectory_msgs from a C++ Script (11:43)
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Create a MoveIt2 Configuration Package (55:40)
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Interface MoveIt2 with Gazebo (18:24)
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Pick-and-Place with a Custom Robot (30:27)
Bonus Project — Robotics × LLM: Drive an Arm in Plain English (xArm6 + Ollama)
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Creating the ROS2 Workspace & Cloning xarm_ros2 (12:02)
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Building the Custom Package my_xarm6: Robot, World, and Camera Setup (63:25)
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Creating the my_xarm6_app Package: First Motion Node (26:46)
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CNC Motion Node: Drawing Circles and Squares with Constant Orientation (37:50)
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Blind Pick and Place: Fixed Object Positions (29:03)
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Vision Integration with OpenCV: Depth Reconstruction via Intrinsics (38:33)
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Vision-Based Pick and Place + Custom Service Definition (35:17)
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Introduction to Ollama and LLM Integration (12:17)
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LLM Task Pipeline: Designing the Action-Oriented Architecture and System Prompt engineering (55:45)
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LLM-Driven Pick and Place: Updating System Prompt + Vision + Motion Integration (45:48)
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Test Robotics Tasks with LLM Ollama integrated in ROS2 (21:26)
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General Task LLM: Unified Prompt and Full Robot Commanding (CNC, pick place with vision, end effector control) (24:59)
