ROS as an undergraduate project-based learning enabler

Future engineering and science jobs will require a greater degree of specialty and diversity at the same time. In manufacturing and service industries robots will likely play a huge job generator. Self driving cars, trucks, and humanoids will only be the start. Advanced robots have traditionally been taught heavily at the graduate level, but not until recently at the undergraduate level. However, the Robotic Operating System (ROS) is a game changer in this regard. ROS allows programmers and engineers to tackle extremely difficult problems without specific knowledge of some of the components. In this paper we look at a year long study of robotic arm mechanisms using a PBL technique. We detail the learning difficulties encountered when developing a program from scratch as well as some of the successes. As part of our measurement of merit, we provide our materials on the internet and track their usage by others. Details of where and how we obtained our data are also provided. The current project is based on the Kobuki Turtlebot and the Trossen Robotics Arm Pincher. In this PBL we attempt to mount a robotic arm on the Turtlebot to retrieve objects located in remote locations using a previously built map. Then building off other student projects we attempt to extend our Kobuki's capabilities from basic navigation to navigation with a mission and purpose.