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Virtual Environment for Simulation in Mobile Robotics
Chytrý, Josef ; Horeličan, Tomáš (referee) ; Gábrlík, Petr (advisor)
The purpose of this bachelor's thesis is to get acquainted with the ROS2 and Gazebo tools used on the Ubuntu operating system. Additionally, the thesis provides a detailed description of the process for creating a reference model of a cube and an environment model for the Gazebo simulation platform. It also describes the process of creating the UAMT workplace. Furthermore, the thesis discusses the possibilities for simulation optimization. Finally, it specifies the procedure for integrating the Gazebo software with the ROS framework.
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Virtual environment for visualization and simulation in mobile robotics
Pár, Filip ; Cihlář, Miloš (referee) ; Gábrlík, Petr (advisor)
The purpose of this bachelor thesis is to get acquainted with the ROS2 framework. Furthermore, this thesis describes the detailed procedure of creating robot models of the ÚAMT workplace for the Rviz visualization tool and the Gazebo simulation environment. Subsequently, the thesis describes the procedure of creating a two-dimensional map for navigation purposes and a three-dimensional model of a part of the ÚAMT workplace for the use in the Gazebo simulation environment.
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Path Planning using Voronoi Graphs
Živčák, Adam ; Uhlíř, Václav (referee) ; Rozman, Jaroslav (advisor)
The main purpose of this bachelor thesis is to design and implement plugin for robot operating system, which will be used for path planning using Voronoi graphs. Path planning is executed in well known world, about which robot knows where obstacles are placed. Thesis contains overview of main concepts of robot operating system, description of Voronoi graphs and algorithms to construct them. In conclusion is placed comparison of implemented plugin for path planning with ROS integrated planners.
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Robotic Arm Path Planning
Major, Tomáš ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
This bachelor thesis deals with the control of the Mitsubishi Melfa RV-6SL robot based on the planned path using the MoveIt library. In this thesis the reader can learn how to proceed and what information he needs when he wants to set the robotic arm in motion while using the MoveIt planning library with the ROS platform. The result of this work is the ability to control the Melfa RV-6SL robot with the ROS system, which is together with MoveIt briefly introduced at the beginning of this thesis.
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Real Time Melfa Controlling Using ROS
Liška, Jakub ; Janoušek, Vladimír (referee) ; Rozman, Jaroslav (advisor)
The goal of this bachelor thesis is to explore the possibilities of controlling the industrial robotic arm Mitsubishi Melfa RV-6SL using ROS (Robot Operating System) and the subsequent implementation of this knowledge into a functional application. This work describes to the reader not only the theoretical foundations of the work, but also how to create the configuration packages needed to simulate the robotic arm in the simulation environment Gazebo, as well as real-time control of the real robotic arm. The text also describes path planning using the MoveIt library, based on poses of robotic arm selected in the Rviz visualization environment.
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Voice controlled robot in ROS framework
Černák, Ondrej ; Kůdela, Jakub (referee) ; Hůlka, Tomáš (advisor)
This thesis deals with the possibility of controlling a robot using voice and designing a robot in ROS Framework, that can execute simple motions. The thesis contains brief search about ROS Framework and the possibilities of voice-controlled robots. The next part deals with creating a model of a robot, implementing a speech recognition system and the use of said system to control a robot.
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Path Planning in the OpenStreet Map
Dobeš, Jan ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
This thesis investigates possible route planning methods in OpenStreet map and Robot operating system (ROS framework), investigates already existing solutions and then implements well integrated own library with own planning algorithms and other improvements. Finally, implemented features are verified.
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