avatar196kc / gcamp_ros_basic

Gcamp ROS Basic

ROS1 Basics with Gazebo Simulations

There's Lecture note for all codes, all packages (Written in Korean)

• Lecture Note Notion Link

There's Also Youtube Lectures for all about this repo (Also spoken in Korean)

• Youtube Lecture Link

Repo Structure

├── topic_tutorial
├── service_tutorial
├── action_tutorial
├── cpp_topic_tutorial
├── cpp_service_tutorial
├── cpp_action_tutorial
├── GazeboFiles
│   ├── models
│   ├── textures
│   └── world
└── gcamp_gazebo

• Gazeobo Package with Worlds and Robot.
• Three Python Packages for each ROS Communication Mechanisms
  • Topic
  • Service
  • Action
• Also Same Three Packages written in C++

Feel Free to use this repo as an template code 😀

Examples

1. Parking

Use ROS topical publish and subscribe to park the robot correctly in the simulation.

• LidarScan data Subscribe
• Cmd_vel publish
• Gazebo

2. Spawn r2d2

Use ROS service to bring a robot into the simulation.

• ROS Gazebo Service
• Service Client
• URDF

3. Turn Robot

Use ROS service to rotate the robot at a certain angle.

• Service Client & Server
• ROS Coordination

4. Maze Escape

Use ROS action to get the robot out of the maze.

• Action Client & Server
• ROS odom
• OpenCV

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Created by kimsooyoung

• Github Account : kimsooyoung