Difference between revisions of "CISC367 S2023"

Feb. 10 and beyond: Smith 211

• 60% 6 programming homeworks
• 25% 5 quizzes
• 15% Final exam

Programming assignments will be graded on how many of the subtasks you complete or demonstrate successfully.

For the overall course grade, a preliminary absolute mark will be assigned to each student based on the percentage of the total possible points they earn according to the standard formula: A = 90-100, B = 80-90, C = 70-80, etc., with +'s and -'s given for the upper and lower third of each range, respectively. Based on the distribution of preliminary grades for all students (i.e., "the curve"), the instructor may increase these grades monotonically to calculate final grades. This means that your final grade can't be lower than your preliminary grade, and your final grade won't be higher than that of anyone who had a higher preliminary grade.

I will try to keep you informed about your standing throughout the semester. If you have any questions about grading or expectations at any time, please feel free to ask me.

Assignment submissions should consist of a directory containing all code (your .cpp files, makefile, etc.), any output data generated (e.g., images, movies, etc.), and an explanation of your approach, what worked and didn't work, etc. contained in a separate text or HTML file. Do not submit executables or .o files, please! The directory you submit for each assignment should be packaged by tar'ing and gzip'ing it or just zip'ing it. The resulting file should be e-mailed to the instructor (cer@cis.udel.edu).

Students can discuss problems with one another in general terms, but must work independently on programming assignments. This also applies to online and printed resources: you may consult them as references (as long as you cite them), but the words and source code you turn in must be yours alone. The University's policies on academic dishonesty are set forth in the student code of conduct here.

This is what all of the robots and SBCs are connected to in Smith 211. You should connect your laptop to it as well in order to communicate with them.

• SSID: NETGEAR33
• Username:
• Password:

Yes, our robot platform is a Roomba. Except it can't clean.

• Platform: iRobot Create 3 running ROS2 Humble
• SBC: Raspberry Pi 4 B running Ubuntu 22.04 and ROS2 Humble
• Lidar: Slamtec RPLIDAR A1
• Camera: RealSense D435

Working backwards from the ROS requirements there are 3 options...

• Linux: Ubuntu Desktop 22.04 LTS. Installation instructions
• Windows: Version 10. No more, no less
• MacOS: Mojave 10.14

We are using ROS2, to be exact, and the Humble Hawksbill version. My laptop and the Raspberry Pi's on the robots are running Ubuntu, so you will have your best support for this option. I have personally tried installing ROS2 Humble on Windows and it seems to be fine, so I at least have the ability to test things in this environment. I have no access to a Mac and therefore no experience and no ability to help troubleshoot issues there. A lot of public sample code and tutorials are available in both C++ and Python, but expect mostly C++ examples from me. I am agnostic about which of these two languages you use for homeworks and projects, but you will get your best support from me in C++.

• Installation instructions for the 3 OS options listed above.
• Documentation
• Tutorials
• nav2
• slam_toolbox

This is a 3-D robot simulator