WEBVTT 00:00.620 --> 00:01.970 Hi robotic enthusiast. 00:02.240 --> 00:03.490 Congratulation. 00:03.500 --> 00:09.230 It has been a long journey that we have undertaken together and I hope you have enjoyed it. 00:09.710 --> 00:16.760 My wish is that I have not only transmitted the key concepts of Ros two and manipulator robots, but 00:16.760 --> 00:20.210 also the passion for robotics and software development. 00:20.810 --> 00:27.500 I hope this course serves as a foundation, as a starting point for the development of your future projects. 00:29.000 --> 00:35.810 We started by creating the RDF model of the robot, which describes its kinematics. 00:35.840 --> 00:40.730 We used it both to simulate the robot and to control the real one. 00:40.940 --> 00:48.920 With this model, we defined the robot's architecture, its joint limits and dimensions, and we used 00:48.950 --> 00:52.790 two fundamental software engineers to Arvis and Gazebo. 00:53.720 --> 01:00.290 Next, we developed the robot's control system, which allows us to control the joints and follow their 01:00.290 --> 01:03.260 movements using the true control library. 01:03.880 --> 01:10.420 Once we were able to move the robot, we immediately realized the need to find a more intuitive and 01:10.420 --> 01:16.720 straightforward way to move the robot freely in the three dimensional space without having to actuate 01:16.720 --> 01:18.310 each joint separately. 01:18.640 --> 01:25.980 We had to study some mathematics and kinematics and become familiar with Matrix operation and ATF through 01:25.990 --> 01:27.250 Library of Ros2. 01:27.400 --> 01:29.290 To solve this complex problem. 01:30.170 --> 01:37.760 Fortunately, we had the support of the great open source world with movie two and its inverse kinematic 01:37.760 --> 01:42.230 solver and also its trajectory planning and execution algorithms. 01:43.130 --> 01:49.100 After implementing all of these functionalities to offer them to other modules, to other nodes, we 01:49.100 --> 01:55.580 developed APIs, an interface that allows easy and intuitive usage of the robot software. 01:55.730 --> 02:00.800 Here we dealt with the two actions and their communication protocol. 02:01.900 --> 02:08.920 Finally, with Angie Rock, we opened and made all of this software available to the Internet, thus 02:08.950 --> 02:15.160 opening ourselves to an almost infinite number of opportunities and application for our robot. 02:15.900 --> 02:22.440 Through this web interface, it is possible to use any web application and integrate it with the robot. 02:22.470 --> 02:25.770 The possibilities, as you can imagine, are limitless. 02:26.350 --> 02:32.830 We demonstrated a practical case of the usage of these possibilities by integrating our robot with the 02:32.830 --> 02:37.420 voice assistant, Alexa, to make the robot move through voice command. 02:38.050 --> 02:40.660 Here concludes my teaching for this course. 02:40.660 --> 02:43.600 But your active learning phase begins now. 02:43.900 --> 02:51.160 I have provided you with the basic tools, and now it's up to you to play, modify, create, and experiment 02:51.160 --> 02:55.870 with new applications, new packages, new functionalities, and develop your idea.