4941 lines
219 KiB
JSON
4941 lines
219 KiB
JSON
[
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{
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"id": "26d46589-31a5-4d94-b0e0-385a12c41721",
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"slug": "nav2-autonomy-f445f63c-efa",
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"title": "2026 교육원 테스트",
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"subtitle": "ROS2, 시뮬레이션, SLAM부터 경로 계획과 제어까지",
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"description": "ROS2와 NAV2 기반 시뮬레이션 및 플랫폼 실습을 통해 자율주행 시스템의 핵심 흐름을 학습하고 팀 프로젝트로 검증합니다.",
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"organizationName": "영남대학교",
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"teacherId": "f445f63c-efa8-4b65-8f2c-a20ee3d390fa",
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"isActive": true,
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"week": 1,
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"state": "current",
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"duration": "1주",
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"overview": "ROS2 통신 구조와 Gazebo 시뮬레이션 환경을 구성하고, LiDAR SLAM·위치추정·경로 계획·제어까지 NAV2 자율주행 파이프라인을 실습합니다.",
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"deliverable": "NAV2 모듈 소스 변경 내역, SLAM 결과 맵, 목표 지점 주행 검증 화면 및 실행 로그를 제출합니다.",
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"detail": "장애물 충돌 없이 목표 지점으로 이동하기 위한 전역·지역 경로 계획을 실습합니다.",
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"sortOrder": 10
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"title": "Control",
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"detail": "생성한 경로를 추종하도록 속도 명령을 만들고 주행 결과를 검증합니다.",
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"title": "[심화] 딥러닝 기반 객체 인식",
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"detail": "딥러닝 기반 객체 인식 결과를 자율주행 데이터 흐름에 반영하는 방법을 학습합니다.",
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{
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"title": "ROS2와 Gazebo 실행 환경",
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"description": "Topic, Service, Action, TF를 확인하고 TurtleBot3 Gazebo 환경을 실행합니다.",
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},
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"state": "locked",
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"deliverable": "팀 프로젝트 소스, 시스템 구성도, 시뮬레이션 및 플랫폼 주행 검증 결과, 발표 자료를 제출합니다.",
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|
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|
|
"모듈 파라미터를 변경하고 결과를 비교해 알고리즘을 튜닝합니다.",
|
|
"카메라 기반 Map 구축과 위치인식의 입력·출력 구조를 분석합니다.",
|
|
"장애물 인식을 위한 Occupancy Map과 costmap 반영 과정을 실습합니다.",
|
|
"장애물 충돌 없이 목표 지점으로 이동하기 위한 전역·지역 경로 계획을 실습합니다.",
|
|
"생성한 경로를 추종하도록 속도 명령을 만들고 주행 결과를 검증합니다.",
|
|
"딥러닝 기반 객체 인식 결과를 자율주행 데이터 흐름에 반영하는 방법을 학습합니다."
|
|
],
|
|
"topicVideoUrls": [
|
|
"https://www.youtube.com/watch?v=gyskLlvX3oI&list=PLNWNEEf8BvG45noktLVI9N0SmD72BpmH7",
|
|
"",
|
|
"",
|
|
"",
|
|
"",
|
|
"",
|
|
"",
|
|
"",
|
|
"",
|
|
"",
|
|
"",
|
|
""
|
|
],
|
|
"practiceContents": [
|
|
{
|
|
"title": "ROS2와 Gazebo 실행 환경",
|
|
"description": "Topic, Service, Action, TF를 확인하고 TurtleBot3 Gazebo 환경을 실행합니다."
|
|
},
|
|
{
|
|
"title": "LiDAR SLAM과 Localization",
|
|
"description": "맵을 생성·저장하고 저장된 맵에서 AMCL 기반 위치추정을 검증합니다."
|
|
},
|
|
{
|
|
"title": "경로 계획과 제어",
|
|
"description": "목표 지점을 설정하고 장애물 회피, 경로 계획, 제어 명령을 비교합니다."
|
|
}
|
|
],
|
|
"disabledModuleIds": [],
|
|
"createdAt": "2026-08-07T00:22:12.058Z",
|
|
"updatedAt": "2026-09-10T01:08:00.565Z"
|
|
}
|
|
]
|
|
}
|
|
] |