Sensors and Sensor Fusion you own this product

This project is part of the liveProject series Build Mobile Robots with ROS 2
intermediate Git • XML • YAML • basic ROS 2 • intermediate Python • Linux basics (installing and building software, working with command line tools, shell basics, working with multiple terminals) • math (translations, rotations, coordinate systems, linear algebra) • probability theory
skills learned
basics of sensors (encoders, IMUs, LiDARs, ultrasonic sensors) • URDF/XACRO • create a robot description • simulate sensors • sensor fusion
Mateusz Sadowski
1 week · 6-8 hours per week · INTERMEDIATE

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liveProject This project is part of the liveProject series Build Mobile Robots with ROS 2 liveProjects give you the opportunity to learn new skills by completing real-world challenges in your local development environment. Solve practical problems, write working code, and analyze real data—with liveProject, you learn by doing. These self-paced projects also come with full liveBook access to select books for 90 days plus permanent access to other select Manning products. $19.99 $29.99 you save $10 (33%)
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Look inside

You’re a programmer at the RoboPrototypes company, and its “dribot”—a prototype of a robot that will serve drinks to customers at a food court—has been running into things (including the CEO’s shin). Using Gazebo 11 and RVIZ2, you’ll add LiDAR (light detection and ranging) and IMU (Inertial Measurement Units) sensors that will provide a view of the environment from the robot’s perspective. To make the most out of the sensor data, you’ll fuse information from multiple sensor sources to better estimate where the robot is in the world.

This project is designed for learning purposes and is not a complete, production-ready application or solution.

book resources

When you start your liveProject, you get full access to the following books for 90 days.

project author

Mat Sadowski

Mat Sadowski is a robotics consultant with eight years of experience in the industry. He has experience working with over thirty worldwide clients on such platforms as mobile robots, unmanned boats, industrial robots, and even lawnmowers. In his spare time, Mat is developing the robotics newsletter Weekly Robotics. You can get up to date on his work by following him on LinkedIn or by following his blog.


This liveProject is for programmers interested in learning about integrating sensors on robotics systems. To follow this liveProject you’ll need a computer running Ubuntu 22.04 capable of running Gazebo and be familiar with the following:

  • Git
  • XML
  • YAML
  • ROS 2
  • Python
  • Linux basics (installing and building software, working with command line tools, shell basics, working with multiple terminals)
  • Math (translations, rotations, coordinate systems, linear algebra)
  • Probability theory

you will learn

In this liveProject, you’ll learn to implement cameras and sensors into robots to allow them to see the world.

  • Basics of sensors (encoders, IMUs, depth cameras, LiDARs, ultrasonic sensors)
  • Create a robot description using URDF/XACRO and visualize it in RVIZ2
  • Simulate a robot in Gazebo 11
  • Use tools for data visualization and debugging
  • Fuse information from multiple sensors using an Extended Kalman Filter (EKF)


You choose the schedule and decide how much time to invest as you build your project.
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book resources
Get full access to select books for 90 days. Permanent access to excerpts from Manning products are also included, as well as references to other resources.