beginner_tutorials

Introduction to ROS packages, catkin_workspace, nodes, Publisher and Subscriber, Service and Clients

Standard install via command-line

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/rishabh1b/beginner_tutorials/
catkin_init_workspace
cd ~/catkin_ws
catkin_make

Running rostest/gtest

Make sure you have followed the installing instructions first using as described in the last section

cd ~/catkin_ws/build
make run_tests

This will run a sample unit test called test_string_service.cpp in src/test/ folder

Running Instructions

For running the talker and subcriber node together, launch the demo.launch file in Terminal 1 -

cd ~/catkin_ws
source devel/setup.bash
roslaunch beginner_tutorials demo.launch

or with optional arguments

roslaunch beginner_tutorials demo.launch publish_rate:=10 topic_name:=chatter

For calling the service run the following command in Terminal 2-

cd ~/catkin_ws
source devel/setup.bash
rosservice call /changeString "808XCourse"

For optionally recording the bag files with all the topics with given duration

roslaunch beginner_tutorials demo.launch rec_bag:=true bag_dur:=20

The bag file get saved in ~/.ros folder

For running rqt_console and rqt_logger, run the following commands in separate terminals

rosrun rqt_logger_level rqt_logger_level

rosrun rqt_console rqt_console

Instructions for tf

For testing relation between frames

roslaunch beginner_tutorials demo.launch
rosrun tf tf_echo world talk

For printing the tree structure from the tf

rosrun tf view_frames

This will save a file called frames.pdf in the current directory.

Instructions for using the bag file

For recording all the topics use the following command with optionally setting the duration of recording

rosbag record -a --duration=15

For Inspecting the containts use

rosbag info bagfile.bag

This will enlist all the topics recorded.

For testing the bag file has been recorded properly run the following commands in separate terminals-

roscore
rosrun beginner_tutorials listener
rosbag play bagFileName.bag

This will cross-check whether the string is being published properly on the /chatter topic by the bag file.

Dependencies

ROS Kinetic. This can be downloaded by following the steps here.
CMake. This can be downloaded from here