As discussed in class, we will be using the Robot Operating System (ROS) in the course this semester. ROS has numerous features to aid users in the development of their robot software. However, these features take some time to learn. The point of this homework is to take you through some tutorial exercises to help you learn some of the basic features of ROS. Note, however, that you will not be programming any robots in this homework.
Note that you may use CSN computers to complete this assignment or you may use your own computer. If you choose to use your own computer, you will need to run Linux (Ubuntu 14.04 is known to work for this) and install ROS Indigo (following the ROS Indigo Installation Instructions) before completing these exercises or use a virtual machine with Linux and ROS Indigo (such as the one prepared by Nootrix). As of this assignment date, the only CSN computers that are available to run ROS are the six "GPEL" computers in DEH 115. (GPEL is an anachronistic acronym that stands for "General Purpose Engineering Lab" and hearkens back to the days when the School of Computer Science was housed in the Engineering Lab building.) These are the only Linux computers in DEH 115. The other computers in that lab are Windows and Mac machines that will not work for this lab. Unfortunately for us, the CSN computers in DEH 115 are running Ubuntu 16.04 rather than 14.04 but the ROS Indigo packages we're using are prepared for 14.04. So, CSN system administrator James Cassidy has created a workaround for us. He has a Docker file with Ubuntu 14.04 and ROS Indigo that you can use for this assignment. Simply follow the instructions below. ROS Docker Instructions
I am hoping that James will have the eight CSN workstations in Felgar Hall 300 online and ready for us to use soon. These machines will run Ubuntu 14.04 and have ROS (and Gazebo) ready for us to use without the Docker hassle. Unfortunately, I have no estimated time line from James on when he will have these machines ready for us. |
Work through the ROS tutorials, completing the following exercises as
you go. As you complete these exercises and add items to your completed
assignment, number them to correspond to the numbering below (e.g., the
modified run commands file will be answer 1.1, the return value of
echo $ROS_PACKAGE_PATH
would be answer 3.1). Note that not
all exercises will result in answers being added to your completed
assignment.
.*rc
) file by your shell on
startup. If you are using bash under Ubuntu, with a standard install,
you may follow the directions in Step 1.6 of the ROS Indigo
installation instructions for Ubuntu directly. Otherwise, you will
need to adapt these instructions slightly.export | grep ROS
to your completed
assignment.catkin_make
to your completed
assignment.echo $ROS_PACKAGE_PATH
to your
completed assignment.package.xml
file to your
completed assignment.catkin_make
to your completed
assignment.rosrun turtlesim turtlesim_node
and add this to your
completed assignment.rosnode list
(after renaming) to
your completed assignment.rqt_graph
has already been installed.)rqt_graph
in Step 1.2.1 and add this to your completed
assignment.rqt_plot
window after you select to plot
/turtle1/pose/x
and /turtle1/pose/y
and
add this to your completed assignment.rosparam set background_r 150
and rosservice
call clear
and add this to your completed assignment.rqt_console
window when
you enter rosrun turtlesim turtlesim_node
and add this
to your completed assignment.rqt_logger_level
window
when you enter rosrun turtlesim turtlesim_node
and add
this to your completed assignment.rqt_graph
window when
you enter roslaunch beginner_tutorials
turtlemimic.launch
and rostopic pub
/turtlesim1/turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '[2.0,
0.0, 0.0]' '[0.0, 0.0, -1.8]'
and add this to your
completed assignment.rosrun beginner_tutorials add_two_ints_client 1 3
to your completed assignment.rosbag record -O subset /turtle1/command_velocity /turtle1/pose
to your completed
assignment.roscd
and roswtf
in Step 1.2 to your completed assignment.Turn in an electronic copy of this assignment via D2L.