Course_T3InstructionManual_Unit0.ipynb

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    "<img src=\"img/t3.png\" width=\"800\" />"
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   "source": [
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   "source": [
    "# Mastering with ROS: Turtlebot3"
   ]
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   "source": [
    "## Unit 0: Introduction to the Course"
   ]
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  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<p style=\"background:green;color:white;\">SUMMARY</p>"
   ]
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   "source": [
    "Estimated time of completion: <b>10 min</b><br><br>\n",
    "This Unit is an introduction to the Turtlebot 3 Micro Course. You'll a have a quick preview of the contents you are going to cover during the Course, and you will also view a practical demo."
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   "source": [
    "<p style=\"background:green;color:white;\">END OF SUMMARY</p>"
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   "metadata": {},
   "source": [
    "## What's this course about?"
   ]
  },
  {
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   "metadata": {},
   "source": [
    "**TurtleBot3** is a new generation mobile robot that is modular, compact and customizable. The goal of TurtleBot3 is to drastically reduce the size and lower the price of the platform without sacrificing capability, functionality, and quality. Optional parts such as chassis, computers and sensors are available, and TurtleBot3 can be customized in various ways. TurtleBot3 is willing to be in the center of the maker movement by applying the latest technical advances of the SBC(Single Board Computer), the Depth sensor and 3D printing technology."
   ]
  },
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   "source": [
    "TurtleBot3 is a collaboration project among **Open Robotics**, **ROBOTIS**, and more partners like **Intel**, **Onshape**, **OROCA**. The Open Robotics is in charge of software and community activities, while ROBOTIS is in charge of manufacturing and global distribution."
   ]
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   "source": [
    "Within this Course, you are going to learn how you can start working with the Turtlebot3 robot, explore its functionalitities, and how to build build some interesting ROS applications for it."
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   "source": [
    "## Do you want to have a taste?"
   ]
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   "source": [
    "With the proper introductions made, it is time to actually start. And... as we always do in the Robot Ignite academy, let's start with practice! In the following example you will be testing a pre-built Navigation application. So... let's go!"
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   "source": [
    "<p style=\"background:#EE9023;color:white;\">Demo 1.1</p>\n",
    "<br>\n",
    "\n",
    "a) Execute the following command in order to start the Navigation system.<br>"
   ]
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    "<table style=\"float:left;background: #407EAF\">\n",
    "<tr>\n",
    "<th>\n",
    "<p class=\"transparent\">Execute in WebShell #1</p>\n",
    "</th>\n",
    "</tr>\n",
    "</table>"
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   "source": [
    "roslaunch turtlebot3_navigation turtlebot3_navigation.launch"
   ]
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   "source": [
    "b) Execute the following command in order to start RViz.<br>"
   ]
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    "<table style=\"float:left;background: #407EAF\">\n",
    "<tr>\n",
    "<th>\n",
    "<p class=\"transparent\">Execute in WebShell #2</p>\n",
    "</th>\n",
    "</tr>\n",
    "</table>"
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   "source": [
    "rosrun rviz rviz -d `rospack find turtlebot3_navigation`/rviz/turtlebot3_nav.rviz"
   ]
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   "source": [
    "Now, if you open the Graphic Tools by hitting this icon \n",
    "<img src=\"img/font-awesome_desktop.png\"width=\"25\"/>\n",
    "you will see something like this:\n",
    "<img src=\"img/demo1.png\" width=\"600\" />"
   ]
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   "source": [
    "c) Use the 2D Pose Estimate tool in Rviz to Localize the Robot in the Map."
   ]
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    "<img style=\"\" src=\"img/2d_pose_estimate_rviz.png\" width=\"200\"></img>"
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   "source": [
    "You should end up with something like this:"
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    "<img src=\"img/demo2.png\" width=\"600\" />"
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   "source": [
    "d) Use the 2D Nav Goal tool in Rviz to send a Goal(desired pose) to the Robot."
   ]
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   "metadata": {},
   "source": [
    "<img style=\"\" src=\"img/2d_nav_goal_rviz.png\" width=\"200\"></img>"
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   "source": [
    "You should now see the Turtlebot3 robot going to that position in the simulation. In Rviz, you can also visualize the planned path that it follows."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/demo3.png\" width=\"600\" />"
   ]
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   "source": [
    "<p style=\"background:#EE9023;color:white;\">End of Demo 1.1</p>"
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   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## What will you learn with this Course?"
   ]
  },
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   "source": [
    "Basically, during this Course you will adress the following topics:\n",
    "\n",
    "* Basic Usage and control of the Turtlebot3 robot.\n",
    "* How to perform Navigation with Turtlebot3.\n",
    "* Follow a line with Turtlebot3.\n",
    "* Object Recognition with Turtlebot3\n",
    "* Motion Planning in Moveit with Turtlebot3\n",
    "* Grasping with Turtlebot3"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## How will you learn it?"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "You will learn through hands on experience from day one! Here you can see some of the simulations you are going to use during the Course:"
   ]
  },
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   "metadata": {},
   "source": [
    "**Turtlebot3 Burger**:"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/t3_burger.png\" width=\"600\" />"
   ]
  },
  {
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   "metadata": {},
   "source": [
    "**Turtlebot3 Waffle**:"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/t3_waffle_regular.png\" width=\"600\" />"
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  },
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   "metadata": {},
   "source": [
    "**Turtlebot3 Waffle with Open Manipulator**:"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/t3_waffle_with_arm.png\" width=\"600\" />"
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   "source": [
    "## Minimum requirements for the Course"
   ]
  },
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   "metadata": {},
   "source": [
    "In order to be able to fully understand the contents of this Course, it is highly recommended to have the following knowledge:\n",
    "\n",
    "* Basic ROS. You can get this knowledge by following the **ROS in 5 Days** Course.\n",
    "* Basic Python.\n",
    "* Basic Unix shell knowledge.\n",
    "* Basic TF. You can get this knowledge by following the **TF ROS 101** Course.\n",
    "* Other Courses that are related to his one are the **ROS Navigation in 5 Days**, **ROS Perception in 5 Days** and the **ROS Manipulation in 5 Days** Courses."
   ]
  },
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   "metadata": {},
   "source": [
    "## Special Thanks"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<li>This course wouldn't be possible without the amazing work done by <a href=\"http://www.robotis.us\" target=\"_blank\">Robotis</a>."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/robotis_logo.png\" width=\"400\" />"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "* This course wouldn't have been possible without knowledge and work of the <a href=\"http://www.ros.org/\">ROS Community</a>, <a href=\"https://www.osrfoundation.org/\">OSRF</a> and <a href=\"http://gazebosim.org/\">Gazebo Team</a>."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/ros_logo.jpg\" width=\"400\"/>"
   ]
  },
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   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/gazebo_logo.png\" width=\"200\"/>"
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