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FS22 Programming for Robotics - Introduction to ROS [151-0662-00L] - :warning: WARNING: not yet finished and possibly buggy

Primary LanguageC++

151-0662-00L - Programming for Robotics - Introduction to ROS

🔗 Course Website

📹 YouTube Videos from previous years

ℹ️ An introductory class to ROS at ETH Zürich

Important

i). Build the packages using catkin build

ii). Each time sourcing using source devel/setup.bash

iii). Launch a node using roslaunch <package> <launchfile>

iv). Visualization of data using rosrun rqt_multiplot rqt_multiplot

v). Configurations of the rviz and gazebo can be customized

Exercise 1

  • ROS architecture
  • ROS master, nodes, and topics
  • Console commands
  • Catkin workspace and build system
  • Launch-files

Exercise 2

  • ROS package structure
  • Integration and programming with Eclipse
  • ROS C++ client library (roscpp)
  • ROS subscribers and publishers
  • ROS parameter server
  • RViz visualization

Exercise 3

  • ROS publisher
  • rqt User Interface
  • TF Transformation System (Optional)
  • Robot models (URDF) (Optional)
  • Simulation descriptions (SDF) (Optional)

Exercise 4

  • ROS bag
  • rqt_multiplot
  • RViz
  • ROS time
  • ROS launch

Exercise 5

  • Service calls

Commands for motion control using service Use the following commands during the simulation...

Option 1: Make the smb roboter move rosservice call /start_stop "data: false"

Option 2: Stop the smb roboter rosservice call /start_stop "data: true"