665.684.8VL - Robotic Systems Development

Course Structure

The course materials are divided into modules which can be accessed by clicking Modules on the course menu. A module will have several sections including the overview, content, readings, discussions, and assignments. You are encouraged to preview all sections of the module before starting. Most modules run for a period of seven (7) days, exceptions are noted in the Course Outline. You should regularly check the Calendar and Announcements for assignment due dates.

Course Topics

• Git Basics
• Docker Basics
• ROS Basic Topics
  • ROS Nodes
  • ROS Visualization
  • ROS Launch
  • Unit Testing
  • Teleoperation
• Gazebo Simulation
• Advanced Topics
  • Cross-Compilation
  • Actions
  • Distributed Systems
    

Course Goals

By the end of this course, the student will be able to:

1. Write novel ROS 2 nodes, using topics, services, timers, loops, and proper object-oriented code design.
2. Create and modify a git repository.
3. Simulate a robot in Gazebo, with an understanding of worlds, plugins, URDFs, and SDFs.
4. Understand ROS 2 introspection techniques, using tools such as rosbag, wireshark, and rostopic.
5. Write comprehensive unit tests for robotic systems.
6. Understand the design process for robotic systems and write documentation and specifications explaining their architectural decisions.
7. Understand the ROS 2 building environment, common ways it might fail, and how to repair it when it does.

Textbooks

N/A

Required Software

Docker Desktop

Student Coursework Requirements

This course will consist of the following basic student requirements:

Preparation and Participation (10% of Final Grade Calculation)

Preparation and participation is evaluated by the following grading elements:

Timeliness (50%)

Critical Thinking (50%)

Preparation and participation is graded as follows:

• 100–90 = A—Timeliness [regularly participates; all required postings; early in discussion; throughout the discussion]; Critical Thinking [rich in content; full of thoughts, insight, and analysis].
• 89–80 = B—Timeliness [frequently participates; all required postings; some not in time for others to read and respond]; Critical Thinking [substantial information; thought, insight, and analysis has taken place].
• 79–70 = C—Timeliness [infrequently participates; all required postings; most at the last minute without allowing for response time]; Critical Thinking [generally competent; information is thin and commonplace].
• <70 = F—Timeliness [rarely participates; some, or all required postings missing]; Critical Thinking [rudimentary and superficial; no analysis or insight is displayed].

Assignments (50% of Final Grade Calculation)

Assignments will consist of a series of programming assignments and demonstrations. Students will be expected to submit working code, as well as written documentation showing screenshots with descriptions of their methodology. Each assignment will be graded based upon whether the code functions as expected and the clarity of the documentation.

All assignments are due according to the dates in the Calendar.

Late submissions will be reduced by one letter grade for each week late (no exceptions without prior coordination with the instructors).

Coding assignments are evaluated by the following grading elements:

1. All functions described in the assignment are implemented (20%)
2. The software runs and operates as described in the assignment (30%) (For example the simulator runs and the robot drives across the room)
3. The algorithms to be implemented were done so correctly (20%)
4. Additional documentation requested in the assignment is complete and clear (30%)

These assignments are graded as follows:

• 100–90 = A—The code is fully functional, the algorithms implemented correctly, and the documentation clear.
• 89–80 = B—The code is fully functional, there may be a minor mistake in the algorithm, and the documentation is complete.
• 79–70=C— The code runs but does not function as expected, algorithm shows that it was attempted but flawed, the documentation describes the difficulties encountered during the implementaiton.
• <70=F— The code does not run, the algorithm is incorrectly implemented, or the documentation does not cover everything described in the assignment.

Course Project (40% of Final Grade Calculation)

A course project will be assigned several weeks into the course. Students will form groups of two or three and create a robot system using skills learned in the course.  They will be required to write a project proposal, a mid-project progress report, a final report, and a demonstrative presentation.  The last week of the course will be devoted to these project presentations.

The course project is evaluated by the following grading elements:

1. Student preparation and participation (40%)
2. Student technical understanding of the course project topic (as related to individual role that the student assumes and described in the Course Project Proposal) (20%)
3. Team preparation and participation (as described in Course Project Proposal) (20%)
4. Team technical understanding of the course project topic (20%)

Course Project is graded as follows:

• 100–90 = A—The simulated robotic system functions as described in the course project description, the code is clean and has comments, the presentation clearly describes the technical approach and challenges of designing the system.
• 89–80 = B— The simulated robotic system functions as described in the course project
• description, the code lacks comments or uses ambigious function or variable names, the presentation does not describe the techincal appraoch in detail.
• 79–70 = C— The simulated robotic system runs but fails to function as in the course project description, the code is poorly formatted and lacks comments, the presentation does not describe what went wrong during the design process.
• <70 = F— The simulated robotic system does not run, the code is unintelligible or not provided, the presentation fails to be clear and fails to describe the technical challenges.

Grading Policy

Assignments are due according to the dates posted in your Blackboard course site. You may check these due dates in the Course Calendar or the Assignments in the corresponding modules. I will post grades one week after assignment due dates.

A grade of A indicates achievement of consistent excellence and distinction throughout the course—that is, conspicuous excellence in all aspects of assignments and discussion in every week.

A grade of B indicates work that meets all course requirements on a level appropriate for graduate academic work. These criteria apply to both undergraduates and graduate students taking the course.

EP uses a +/- grading system (see “Grading System”, Graduate Programs catalog, p. 10).

100-98 = A+ 97-94 = A 93-90 = A− 89-87 = B+ 86-83 = B 82-80 = B− 79-77 = C+ 76-73 = C 72-70 = C− 69-67 = D+ 66-63 = D <63 = F

Final grades will be determined by the following weighting:

Course Policies

Academic Integrity

Academic Misconduct Policy

All students are required to read, know, and comply with the Johns Hopkins University Krieger School of Arts and Sciences (KSAS) / Whiting School of Engineering (WSE) Procedures for Handling Allegations of Misconduct by Full-Time and Part-Time Graduate Students.

This policy prohibits academic misconduct, including but not limited to the following: cheating or facilitating cheating; plagiarism; reuse of assignments; unauthorized collaboration; alteration of graded assignments; and unfair competition. You may request a paper copy of this policy at this by contacting jhep@jhu.edu.

Johns Hopkins University (JHU) is committed to creating a welcoming and inclusive environment for students, faculty, staff and visitors with disabilities. The University does not discriminate on the basis of race, color, sex, religion, sexual orientation, national or ethnic origin, age, disability or veteran status in any student program or activity, or with regard to admission or employment. JHU works to ensure that students, employees and visitors with disabilities have equal access to university programs, facilities, technology and websites.

Under Section 504 of the Rehabilitation Act of 1973, the Americans with Disabilities Act (ADA) of 1990 and the ADA Amendments Act of 2008, a person is considered to have a disability if c (1) he or she has a physical or mental impairment that substantially limits one or more major life activities (such as hearing, seeing, speaking, breathing, performing manual tasks, walking, caring for oneself, learning, or concentrating); (2) has a record of having such an impairment; or (3) is regarded as having such an impairment class. The University provides reasonable and appropriate accommodations to students and employees with disabilities. In most cases, JHU will require documentation of the disability and the need for the specific requested accommodation.

The Disability Services program within the Office of Institutional Equity oversees the coordination of reasonable accommodations for students and employees with disabilities, and serves as the central point of contact for information on physical and programmatic access at the University. More information on this policy may be found at the Disabilities Services website or by contacting (410) 516-8075.

Disability Services

Johns Hopkins Engineering for Professionals is committed to providing reasonable and appropriate accommodations to students with disabilities.

Students requiring accommodations are encouraged to contact Disability Services at least four weeks before the start of the academic term or as soon as possible. Although requests can be made at any time, students should understand that there may be a delay of up to two weeks for implementation depending on the nature of the accommodations requested.

Requesting Accommodation

New students must submit a Disability Services Graduate Registration Form  along with supporting documentation from a qualified diagnostician that:

• Identifies the type of disability
• Describes the current level of functioning in an academic setting
• Lists recommended accommodations

Questions about disability resources and requests for accommodation at Johns Hopkins Engineering for Professionals should be directed to:

EP Disability Services Phone: 410-516-2306 Fax: 410-579-8049 E-mail: ep-disability-svcs@jhu.edu

Academic Policies

Deadlines for Adding, Dropping and Withdrawing from Courses

Students may add a course up to one week after the start of the term for that particular course. Students may drop courses according to the drop deadlines outlined in the EP academic calendar (https://ep.jhu.edu/student-services/academic-calendar/). Between the 6th week of the class and prior to the final withdrawal deadline, a student may withdraw from a course with a W on their academic record. A record of the course will remain on the academic record with a W appearing in the grade column to indicate that the student registered and withdrew from the course.

Academic Misconduct Policy

All students are required to read, know, and comply with the Johns Hopkins University Krieger School of Arts and Sciences (KSAS) / Whiting School of Engineering (WSE) Procedures for Handling Allegations of Misconduct by Full-Time and Part-Time Graduate Students.

This policy prohibits academic misconduct, including but not limited to the following: cheating or facilitating cheating; plagiarism; reuse of assignments; unauthorized collaboration; alteration of graded assignments; and unfair competition. Course materials (old assignments, texts, or examinations, etc.) should not be shared unless authorized by the course instructor. Any questions related to this policy should be directed to EP’s academic integrity officer at ep-academic-integrity@jhu.edu.

Students with Disabilities - Accommodations and Accessibility

Johns Hopkins University values diversity and inclusion. We are committed to providing welcoming, equitable, and accessible educational experiences for all students. Students with disabilities (including those with psychological conditions, medical conditions and temporary disabilities) can request accommodations for this course by providing an Accommodation Letter issued by Student Disability Services (SDS). Please request accommodations for this course as early as possible to provide time for effective communication and arrangements.

For further information or to start the process of requesting accommodations, please contact Student Disability Services at Engineering for Professionals, ep-disability-svcs@jhu.edu.

Student Conduct Code

The fundamental purpose of the JHU regulation of student conduct is to promote and to protect the health, safety, welfare, property, and rights of all members of the University community as well as to promote the orderly operation of the University and to safeguard its property and facilities. As members of the University community, students accept certain responsibilities which support the educational mission and create an environment in which all students are afforded the same opportunity to succeed academically. 

For a full description of the code please visit the following website: https://studentaffairs.jhu.edu/policies-guidelines/student-code/

Classroom Climate

JHU is committed to creating a classroom environment that values the diversity of experiences and perspectives that all students bring. Everyone has the right to be treated with dignity and respect. Fostering an inclusive climate is important. Research and experience show that students who interact with peers who are different from themselves learn new things and experience tangible educational outcomes. At no time in this learning process should someone be singled out or treated unequally on the basis of any seen or unseen part of their identity. 
 
If you have concerns in this course about harassment, discrimination, or any unequal treatment, or if you seek accommodations or resources, please reach out to the course instructor directly. Reporting will never impact your course grade. You may also share concerns with your program chair, the Assistant Dean for Diversity and Inclusion, or the Office of Institutional Equity. In handling reports, people will protect your privacy as much as possible, but faculty and staff are required to officially report information for some cases (e.g. sexual harassment).

Course Auditing

When a student enrolls in an EP course with “audit” status, the student must reach an understanding with the instructor as to what is required to earn the “audit.” If the student does not meet those expectations, the instructor must notify the EP Registration Team [EP-Registration@exchange.johnshopkins.edu] in order for the student to be retroactively dropped or withdrawn from the course (depending on when the "audit" was requested and in accordance with EP registration deadlines). All lecture content will remain accessible to auditing students, but access to all other course material is left to the discretion of the instructor.