dfszabo / Tutorials-2020

Winter Break Tutorials

Winter Break Tutorials

• Slides can be found here.
• The urdf portion is based on this ROS tutorial
• The publisher portion is based on this ROS tutorial

Prerequisites

• have ubuntu and ROS installed

Cloning the repo

From home directory create /catkin_ws/src folder and run the following command

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/utra-robosoccer/Tutorials-2020.git

Updating Dependencies

cd ~/catkin_ws/
rosdep update
rosdep install --from-paths src --ignore-src -r -y --rosdistro melodic

Installing Controllers For Robot

sudo apt-get update
sudo apt-get install ros-noetic-ros-controllers

Building tutorial package

First build the project and source the setup file so that the system knows where to look for your build files

cd ~/catkin_ws
catkin build tutorial
source devel/setup.bash

Launch the robot

roslaunch tutorial gazebo.launch

Commands used during tutorial

useful tip: press tab to auto-complete words as you type commands Open a new terminal to run commands for the robot

cd ~/catkin_ws
source devel/setup.bash

To run the main node run this command

rosrun tutorial my_publisher

To send a command to the left arm

rostopic pub /left_arm_controller/command std_msgs/Float64 "data: 1.0"

To see the ROS node tree run this command

rqt_graph