Week 3 Labs

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.