Department of Biomedical Engineering

MCE 330 | Course Introduction and Application Information

Course Name

Robot Operating System

Code	Semester	Theory (hour/week)	Application/Lab (hour/week)	Local Credits	ECTS
MCE 330	SPRING	3	0	3	6

Prerequisites	None
Course Language	English
Course Type	ELECTIVE_COURSE
Course Level	First Cycle
Mode of Delivery	Face-to-face
Teaching Methods and Techniques of the Course	Group Work Q&A Application: Experiment / Laboratory / Workshop Lecture / Presentation
National Occupational Classification Code	-
Course Coordinator	Dr. Öğr. Üyesi Lütfi Mutlu
Course Lecturer(s)	Dr. Öğr. Üyesi Lütfi Mutlu
Assistant(s)	Araş. Gör. Alperen Keser

Course Objectives

This course will introduce students to the Robot Operating System (ROS). Students will install ROS and make use of the features it already provides to compose, simulate and operate robotics solutions. Students will also develop extensions to ROS to operate complex robotics systems.

Learning Outcomes

The students who succeeded in this course;

Name	Description	PC Sub	* Contribution Level
Name	Description	PC Sub	1	2	3	4	5
LO1	Set up workflows of robotic systems			X
LO2	Employ the tools that Robot Operating System provides				X
LO3	Simulate robotic systems				X
LO4	Develop software nodes of a robotic system				X
LO5	Operate robots using Robot Operating System				X
LO6	Compose robotic systems that make use of sensors		X

Course Description

The course subjects include in the recommended textbook as well as various internet resources that provide up to date information.

Related Sustainable Development Goals

Course Category	Core Courses
	Major Area Courses	X
	Supportive Courses
	Media and Managment Skills Courses
	Transferable Skill Courses

WEEKLY SUBJECTS AND RELATED PREPARATION STUDIES

Week	Subjects	Required Materials	Learning Outcome
1	Installing and Using Linux	Lecture Notes; https://ros.org/	-
2	Installing ROS	Textbook Chapter 1 Lecture Notes; https://ros.org/	LO1
3	ROS Concepts	Textbook Chapter 2 Lecture Notes; https://ros.org/	LO1
4	Running ROS	Textbook Chapter 2 Lecture Notes; https://ros.org/	LO2
5	ROS Nodes	Textbook Chapter 3 Lecture Notes; https://ros.org	LO2
6	ROS Communication	Textbook Chapter 3 Lecture Notes; https://ros.org	LO2
7	Developing ROS Nodes in Python	Textbook Chapter 3 Lecture Notes; https://ros.org	LO3
8	Developing ROS Nodes in Python	Textbook Chapter 3, 4 Lecture Notes; https://ros.org	LO3
9	Midterm Exam		-
10	RViz and ROS Transformation System	Lecture Notes; https://ros.org/	LO3
11	Robot Simulation with Gazebo	Lecture Notes; https://ros.org/	LO3
12	ROS Navigation Stack	Textbook Chapter 8 Lecture Notes; https://ros.org/	LO3
13	Localization	Textbook Chapter 8 Lecture Notes; https://ros.org/	LO3
14	Manipulation	Textbook Chapter 8 Lecture Notes; https://ros.org/	LO3
15	Review of the Semester		-
16	Final Exam		-

Course Notes/Textbooks	O'Kane Jason M. A Gentle Introduction to ROS Leipzig CreateSpace Independent Publishing Platform 2013
Suggested Readings/Materials	https://www.ros.org/

EVALUATION SYSTEM

Semester Activities	Number	Weighting	LO1	LO2	LO3	LO4	LO5	LO6
Homework / Assignments	4	25	X	X	X	X	X	X
Project	1	10	X	X	X	X	X	X
Midterm	1	25	X	X	X	X	X
Final Exam	1	40	X	X	X	X	X	X
Total	7	100

ECTS / WORKLOAD TABLE

Semester Activities	Number	Duration (Hours)	Workload
Participation	-	-	-
Theoretical Course Hours	14	3	42
Laboratory / Application Hours	-	-	-
Study Hours Out of Class	14	2	28
Field Work	-	-	-
Quizzes / Studio Critiques	-	-	-
Portfolio	-	-	-
Homework / Assignments	4	7	28
Presentation / Jury	-	-	-
Project	1	20	20
Seminar / Workshop	-	-	-
Oral Exams	-	-	-
Midterms	1	27	27
Final Exam	1	35	35
		Total	180