bchandaka / Intro-to-ROS-Workshop

Demo files for my intro to ROS workshop

Intro-to-ROS-Workshop

This repo includes demo files for my intro to ROS workshop. For ease of use, I will skip the ros install process, so we can get started faster. Instead of using ros locally, we can use a browser version with everything pre-installed: https://www.theconstructsim.com/

Demo Package Instructions

1. Setup
   • Create a catkin workspace: mkdir -p ~/catkin_ws/src
   • Clone this repo into the src/ folder of the workspace: cd ~/catkin_ws/src && git clone https://github.com/bchandaka/Intro-to-ROS-Workshop.git
   • Download the sample rosbag and place it into the vision_demo/data folder of this repo
   • Build the custom package from the workspace folder: cd ~/catkin_ws && catkin_make
   • Run the install shell script so ROS2 knows how to run files from your custom package: source devel/setup.bash

Controlling the Turtlebot in theconstructsim

1. roslaunch turtlebot_gazebo turtlebot_project.launch
2. rosrun teleop_twist_keyboard teleop_twist_keyboard.py
3. Move around the turtlebot with your keyboard!
   • try visualizing some of the sensor data with rviz too

Additional Commands

Tab Completion and -h flag are your friends

• Creating a new catkin package: catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
• rostopic ...
• rospack ...
• rosbag ...
• rviz