ros

Slides of the lecture

1. ROS_Summer_School.pdf

ROS example workspace

1. This catkin workspace ss_ws contains two packages which were covered in the lecture slides:

   1. tut1: Simple publisher and subscriber transferring Hello world string messages.
   2. learning_tf:Tf broadcaster and listener code, along with the launch file.

2. In order to run the tutorials you need to install ROS according to your ubuntu distribution and build the workspace by running:

   1. You need to install ros dependencies used in the tutorial, by (replace kinetic by melodic for Ubuntu 18.04):
      1. sudo apt-get install ros-kinetic-ros-tutorials
      2. sudo apt-get install ros-kinetic-ros-tutorials ros-kinetic-geometry-tutorials ros-kinetic-rviz ros-kinetic-rosbash ros-kinetic-rqt-tf-tree
   2. source /opt/ros/kinetic/setup.bash # Source ROS workspace
   3. cd ss_ws
   4. catkin_make # This would create devel and build folder in ss_ws
   5. source devel/setup.bash # Source current workspace path

3. tut1:

   1. It contains two nodes in the folder ss_ws/src/tut1/src/: listener.py and talker.py
   2. In order to run the nodes, do:
      1. roscore
      2. ./listner.py
      3. ./talker.py

4. learning_tf:

   1. It contains two nodes in the folder ss_ws/src/learning_tf/src/: turtle_tf_listener.py and turtle_tf_broadcaster.py.
   2. In order to run the nodes, do:
      1. roslaunch learning_tf start_demo.launch

5. References for the tutorials:

   1. Tf tutorials
   2. ROS tutorials