🔧 Prerequisites

• ✅ Basic knowledge of robotics principles and autonomous systems
• ✅ Programming experience in Python and C++
• ✅ Understanding of Arduino programming and microcontroller basics
• ✅ Familiarity with ROS (Robot Operating System) concepts
• ✅ Basic electronics knowledge for sensor and actuator interfacing

🌐 ROS Essentials

This laboratory introduces the Robot Operating System (ROS) as a framework for robot software development:

• 🔹 Installing and configuring ROS environment (Kinetic/Melodic/Noetic or compatible versions)
• 🔹 ROS fundamentals: Master, nodes, topics, messages, services, parameters, and actions
• 🔹 ROS Tools: Gazebo (simulation), Moveit (motion planning), Rviz (visualization)
• 🔹 Creating Workspaces and Packages in ROS for modular development
• 🔹 Implementing Publisher-Subscriber and Service-Client communication patterns

🧪 Laboratory Experiments

Part A: Interfacing Sensors and Actuators

1. Arduino Basics

• LED Interfacing - Control LEDs with Arduino for basic I/O operations
• LCD Interfacing - Display information on LCD screens
• Serial Monitor Communication - Establish communication between Arduino and computer

2. Sensor Interfacing

• IR Sensor - Detect obstacles using infrared technology
• Ultrasonic Sensor - Measure distances using sound waves

3. DC Motor Control

• Speed and Direction Control - Control motor speed and direction for robot movement

4. Servo Motor Control

• Angle of Rotation - Precise control of servo motors for robotics applications

5. Sensor Calibration

• IR Sensor Calibration - Calibrate sensors for accurate readings
• Sonar Calibration - Configure ultrasonic sensors for precise distance measurement
• Calibration Curves - Generate and interpret sensor calibration data

6. Mobile Robot Assembly

• Mobile Robot Assembly - Build a complete mobile robot with various components

7. Arduino Networking (Coming Soon)

• GSM Integration - Connect robots to cellular networks
• Bluetooth Communication - Implement wireless robot control

Part B: Intelligent Systems

8. ROS Programming Basics

• Publisher-Subscriber Implementation - Implement basic ROS communication patterns
• Service-Client Programming - Create request-response based interactions
• Recording and Playing Back Data - Use rosbag for data recording and playback
• Reading Messages from Bag File - Extract and process recorded sensor data

9. Mobile Robot Localization (Coming Soon)

• LIDAR-based Localization - Implement laser-based robot positioning
• ROS Implementation - Integrate localization algorithms in ROS

10. Touch Sensing (Coming Soon)

• Sensor Interfacing - Connect touch sensors to robots
• Feedback System Implementation - Create responsive touch-based feedback systems

11. Line Following Robot

• Line Following Robot - Build and program a robot that follows a line path

12. Obstacle Avoidance

• Obstacle Avoidance Robot - Create a robot that detects and avoids obstacles

13. Object Detection

• Object Detection using a Standard Algorithm - Implement computer vision for object recognition

14. ROS Navigation

• Turtlebot Simulation - Simulate autonomous navigation using Turtlebot platform

Additional Programs and Resources

• Push Button Interfacing - Learn how to use push buttons for robot interaction
• More examples and utilities will be added throughout the course

Extra Materials for Exam

Study Materials

• Viva Questions (Electronic Components based)

Experiment Questions

• Smart Bin

• Auto Window Opener

• Ultrasonic LED Proximity Display

🚀 How to Use This Repository

1. Clone the repository:

   git clone https://github.com/venkideshVenu/KTU-S6-Robotics-Lab-AIL332
   cd KTU-S6-Robotics-Lab-AIL332
   

2. Install prerequisites:

   # Arduino IDE
   sudo apt-get install arduino
   
   # ROS Installation (Ubuntu 20.04 - ROS Noetic example)
   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
   sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
   sudo apt-get update
   sudo apt-get install ros-noetic-desktop-full
   
   # Python packages
   pip install numpy matplotlib pandas
   

3. Navigate to specific experiment directory

   cd "01 Familiarisation of Arduino IDE, microcontroller & IO interfacing"
   

4. Follow instructions in individual experiment READMEs

🛠️ Tools and Technologies

📊 Assessment Pattern

Grading Criteria

• Lab Performance: 40% - Quality of implementation and demonstration
• Lab Records: 30% - Documentation and analysis of experiments
• Viva Voce: 30% - Understanding of concepts and applications

📚 References

1. Siegwart, Roland, "Introduction to Autonomous Mobile Robots", MIT Press
2. Peter Corke, "Robotics, Vision and Control: Fundamental Algorithms in MATLAB", Springer
3. John. J. Craig, "Introduction to Robotics (Mechanics and control)", Pearson
4. S K Saha, "Introduction to Robotics", McGraw Hill
5. R K Mittal and I J Nagrath, "Robotics and Control", Tata McGraw Hill
6. Dahiya, Ravinder S., Valle, Maurizio, "Robotic Tactile Sensing", Springer
7. TurtleBot3 e-Manual
8. ROS Wiki
9. Arduino Documentation

🔄 Contributing

Contributions to improve this repository are welcome! Please follow these steps:

1. Fork the repository
2. Create a feature branch (git checkout -b feature/amazing-feature)
3. Commit your changes (git commit -m 'Add amazing feature')
4. Push to the branch (git push origin feature/amazing-feature)
5. Open a Pull Request

📝 License

This project is licensed under the MIT License - see the LICENSE file for details.