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Capstone Project: Design a Delivery Robot System - Summary

Quick Reference: Integrative project overview

Project Goal​

Design a complete autonomous delivery robot system integrating all four lesson concepts: ROS2 architecture (Lesson 1), node communication patterns (Lesson 2), Python rclpy code (Lesson 3), and URDF robot modeling (Lesson 4).

Required Deliverables​

  1. Node Architecture Diagram (25 pts): 4-6 nodes with clear responsibilities and ROS2 graph connections
  2. Communication Design (25 pts): 5-7 topics/services with pattern justifications (topics for continuous data, services for requests)
  3. rclpy Code Outlines (25 pts): Pseudocode for 2-3 nodes showing publishers, subscribers, callbacks, timers
  4. URDF Robot Structure (25 pts): Physical robot design with links, joints, kinematic tree (base, wheels, sensors, cargo)
  5. Integration & Justification (25 pts): Cohesive design with rationale based on ROS2 principles

Key Skills Demonstrated​

  • System Architecture: Breaking complex robot into modular nodes with single responsibilities
  • Pattern Selection: Choosing topics (pub/sub) vs services (request/response) based on requirements
  • Code Structure: Applying rclpy patterns (Node class, create_publisher, create_subscription, callbacks)
  • Robot Modeling: Designing URDF kinematic structure (links, joints, parent-child relationships)
  • Systems Thinking: Integrating multiple concepts into practical solution

Assessment​

Design exercise (not full implementation). Submit as Markdown/PDF with diagrams, justifications, and code outlines. Expect 2-3 hours for design and documentation. Passing: 70+ points. Exemplary: 90+ points.