April 11, Tuesday
This week, you will complete the introductory ROS tutorials. We will be using the ROS 1 Noetic distribution. The workstations in the capstone room should already have ROS installed. You can run rosversion ros in the terminal to check that ROS is installed.
Lab 1: Complete all beginner-level ROS tutorials.
See notes on our Github wiki about modifications you will need to make to the tutorial to make them work in ROS 1 Noetic.
You can skip the C++ ones if you want (#11, #14), with the understanding that you could come back to them if needed.
Lab 2: Get started on learning to operate the Stretch robot with ROS (complete the first four Stretch ROS tutorials).
First, follow instructions here to install Stretch body using pip.
Run 'catkin build' then source 'devel/setup.bash' before continuing, if you encounter errors during building Google them and use 'sudo apt-get install <package>' to install any missing resources
Run the Stretch robot simulator, as described in the Stretch Gazebo Basics tutorial.
Move the simulated Stretch robot through keyboard-based teleoperation. Note that you need to skip the first subsection "Teleoperating Stretch" and start with "Teleoperating in Gazebo" at the bottom of the page.
Inspect the different topics and messages that are available when the simulator is running, as described in the Internal State of Stretch tutorial.