Robot Operating System (ROS) 

Under Construction...  This is my first attempt at learning and teaching ROS... I'm going to be a "Student" too for a while...

Robot Operating System (ROS) Introduction

ROS Resource Links

not in any particular order...

• ROS.org - Official ROS Site

• Nootrics - ROS: The Linux for Robotics

• EDX - Hello (Real) World with ROS – Robot Operating System

• Text Book - A Gentle Introduction to ROS

Mechatronics Engineering - ROS Unit & Lesson Plans

Prerequisite 

• install Linux ( what version and apps?)

• Linux - command line modules

ROS

• Installing ROS 

Installing Ubuntu Linux and ROS

Install Ubuntu 16.04 - ROS Kinetic ONLY supports Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8) for debian packages. To help getting the Linux and ROS install right, please Follow the instructions below.  The link will provide the steps to complete this install.  There will be a number of helpful scripts to make this process fater and less error prone.  When possible scripts will be provided to test if your build and image are correct.

• Follow the instructions on the Build ROS Image page

Random ROS Links to Sort

• WebCast presentation about Robot Modularity with Xilinx and H-ROS  <-- this is about ROS, specifically Hardware-ROS, from ACURONICS Robotics and links to presentation and white papers

  • you will need to register.  give your 

    • name, email,  Title ("Student at SVCTE"  is fine), country

    • What you do in robotics (researcher or end user is fine) 

    • if you are a Xilinx user (no is fine) and when your next design start is (1+ year is fine)

• 
  

ROS Links found by my 2019-2020 students...

• https://www.intorobotics.com/15-reasons-to-use-the-robot-operating-system-ros/

• https://www.generationrobots.com/blog/en/ros-robot-operating-system-2/ 

• http://www2.ece.ohio-state.edu/~zhang/RoboticsClass/docs/ECE5463_ROSTutorialLecture1.pdf

• https://cse.sc.edu/~jokane/agitr/agitr-letter.pdf 

• http://wiki.ros.org/ROS/Tutorials 

• https://husarion.com/tutorials/ros-tutorials/1-ros-introduction/ 

• http://www.clearpathrobotics.com/assets/guides/ros/

• https://www.ros.org/about-ros/ 

• https://www.youtube.com/watch?v=N6K2LWG2kRI 

• https://robohub.org/ros-101-intro-to-the-robot-operating-system/  https://www.ros.org/about-ros/ 

• https://www.youtube.com/watch?v=DBFYZRMLr70&list=PLK0b4e05LnzZWg_7QrIQWyvSPX2WN2ncc 

• http://www.theconstructsim.com/ros-for-beginners/ 

• Maya said...  I used this link to find the courses http://wiki.ros.org/Courses but most of the Udemy classes there are paid classes. I clicked through a few others though and they have useful presentations or video links, but I didn’t sort through them all.

I was having a hard time finding any good and free classes, but I found one on EdX

https://courses.edx.org/courses/course-v1:DelftX+ROS1x+3T2018/course/

And I think this is a compilation of Youtube videos that was used as a course.

https://rsl.ethz.ch/education-students/lectures/ros.html

This Youtube channel has a few videos and compilations we could use, but I can’t tell how in depth they go https://www.youtube.com/channel/UCt6Lag-vv25fTX3e11mVY1Q

I found a little set of code on github, all of the stuff i saw was by VGonPa:https://github.com/VGonPa/ros-testing-tutorial

https://github.com/VGonPa/ros-testing-tutorial/commits?author=VGonPa

Random to Sort or Delete

Hello Jim,

I found this online some time ago and mentioned it to you... thought you'd find it interesting: https://sites.google.com/site/comprobofall14/home

 And attached I've included an article I wrote for SERVO magaizine (I think you're already seen this).

Finally the two core files of the Botvac package are attached. neato_driver.py and neato.py One is basically our API (neato_driver.py) hoisted up as variables and the ros wrapper (neato.py) putting things into the ROS framework.

 Good to see you this weekend and talk with you later.

 Thanks,

Camp

Alright... I've updated my "cheat sheet" so... here's the 1, 2, 3, 4. I assume you have an Ubuntu workstation with ROS Kinetic installed: http://wiki.ros.org/kinetic/Installation/Ubuntu 

After which install the intro_to_ros package: https://github.com/SV-ROS/intro_to_ros 

One important thing I've discovered is the ".bashrc" file configuration... generally remark (#) out anything about the ROS environment and add the following 3 lines:

export ROS_MASTER_URI=http://robot:11311

export ROS_HOST=remote_computer:11311

source ~/catkin_ws/devel/setup.bash

Where "robot" is the Raspberry Pi (i.e. robot) and "remote_computer" is the name of your ROS host. IP addresses could be used. Oh! One more thing... I prefer to use the keyboard teleop package from the original TurtleBot: http://wiki.ros.org/teleop_twist_keyboard 

So with remote workstation (ROS host) ready to go and the Pi booted and “pingable”… plug it into the robot (with the robot turned on). The first thing I do is start a "ping terminal" if I have problems anywhere down the line immediately go back to this window and make sure you have a "heartbeat".and

Next ssh to "robot" (i.e. ubuntu@robot) default password is “ubuntu”.

I generally (always) start a session with "sudo ntpdate pool.ntp.org" on both Pi and host. This synchronizes the computers. BTW you might want to install “ntpdate” and “minicom”.

Next change mode on Pi to get r/w access to the robot "sudo chmod 666 /dev/ttyACM0".

Next launch "roslaunch bv80bot_node bv80bot_base_only.launch" on robot (Raspberry Pi).*

Next launch "roslaunch bv80bot_node bv80bot_map_gui.launch" on the remote workstation (ROS host).

Finally launch "rosrun teleop_twist_keyboard teleop_twist_keyboard.py" if you've installed the TurtleBot's Teleop Keyboard. Now with “teleop_twist_keyboard” you should be able to drive around and make a map! Yay!

Drive around and make a map... try and end up where you started because the navigation stack will assume that starting position otherwise you’d have to estimate your pose.

After you've created your map open a new terminal window and change directories: "roscd neato_2dnav/maps". Save your map with "rosrun map_server map_saver"

After SAVING your map kill the gmapping (grid-mapping) window "<ctr> c" (the terminal window where you launched the mapping and GUI.

Then paste "roslaunch bv80bot_node bv80bot_nav_gui.launch" into that window. This will launch the map server, rviz, path-planner and localizer. Now with a little bit of luck you should be able to select "goal" click somewhere on the map and (as mentioned) with a little bit of luck the robot will navigate to that goal.

Congratulations!

Let me know if !@#$'s, ???'s or !!!'s.

Thanks,

Camp

* Note there seems to be a bug on line 119... if you get this error delete ", scan.intensities" and it will go away.