Operating Systems Practice (2025 Fall)

Course Information

  • Semester: Fall 2025
  • Instructor: Prof. Inkyu An
  • Department: School of Computer Science, Kookmin University

Course Description

This course provides hands-on experience with robotic operating systems through practical implementation using ROS2 (Robot Operating System 2). Students will learn to develop robotic applications, work with sensors, implement SLAM and path planning algorithms, and gain practical experience with both simulated and real robots. The course emphasizes practical robotics programming and system integration.

Course Objectives

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

  • Set up and configure ROS2 development environments
  • Design and implement ROS2 nodes and communication systems
  • Work with robotic sensors including LiDAR and depth cameras
  • Program real robots, UNI050-HDB1 (HYUNDAI ROBOTICS) and Turtlebot4 (CLEARPATH), using ROS2 frameworks
UNI050-HDB1 Turtlebot4

Weekly Class Plan

Week 1
  • Sep 2: ROS2 Introduction: Why ROS2?
  • Sep 4: ROS2 Introduction: Setting up the development environment
Week 2
  • Sep 9: ROS2 Nodes and Data Communication
  • Sep 11: Practice – ROS2 Nodes and Data Communication
Week 3
  • Sep 16: ROS2 Transformation System (TF2)
  • Sep 18: Gazebo Practice: Robot Creation (Part 1)
Week 4
  • Sep 23: Gazebo Practice: Robot Creation (Part 2)
  • Sep 25: ROS2 Sensing
Week 5
  • Sep 30: Gazebo Practice: 2D Lidar
  • Oct 2: Gazebo Practice: Depth Camera
Week 6
  • Oct 7: SLAM Theory
  • Oct 9: Gazebo Practice: SLAM
Week 7
  • Oct 14: Path Planning Theory
  • Oct 16: Gazebo Practice: Path Planning
Week 8
  • Oct 21 & Oct 23: Midterm Exam
Week 9
  • Oct 28: ROS2 Programming – Build and Package Files
  • Oct 30: ROS2 Programming – Package Design
Week 10
  • Nov 4: Real Robot Practice – Sensing (Part 1)
  • Nov 6: Real Robot Practice – Sensing (Part 2)
Week 11
  • Nov 11: Real Robot Practice – YOLOv8
  • Nov 13: ROS2 Topic Programming (Python)
Week 12
  • Nov 18: ROS2 Service Programming (Python)
  • Nov 20: Real Robot Practice – SLAM (Part 1)
Week 13
  • Nov 25: Real Robot Practice – SLAM (Part 2)
  • Nov 27: Real Robot Practice – Path Planning (Part 1)
Week 14
  • Dec 2: Real Robot Practice – Path Planning (Part 2)
  • Dec 4: Real Robot Practice – Path Planning (Part 3)
Week 15
  • Dec 9: Final Project
  • Dec 11: Final Project

Course Materials

Lecture Notes

Lecture notes will be uploaded here throughout the semester

Lecture 1: ROS2 Introduction

Lecture 2: ROS2 Node, Topic, Service

Lecture 3: ROS2 Params and Actions

Lecture 4: ROS2 other CLI tools

Lecture 5: ROS2 build package

Lecture 6: ROS2 simple pub and sub

Lecture 7: ROS2 Create custom msg and srv files

Lecture 8: ROS2 TF2

Lecture 9: ROS2 TF2 2

Lecture 10: Gazebo

Lecture 11: Turtlebot4 Gazebo

Lecture 12: Path planning 1

Lecture 13: SLAM

Assignments

Assignment materials will be posted here

Assignment 1: System Calls

Final Project

Additional Materials

Supplementary materials and resources will be available here

Lecture 7: Source code

Lecture 8: Source code

Lecture 9: Source code

Contact Information

Professor: Inkyu An
Email: inkyu.an@kookmin.ac.kr
Office: Room 450, Engineering Building
Office Hours: TBA