youwuyou / smb_ws

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

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

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Exercise 2

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

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Exercise 3

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

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Exercise 4

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

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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"