Programming for Robotics (ROS) Course 2
ฝัง
- เผยแพร่เมื่อ 9 พ.ย. 2024
- The slides are available here:
www.ethz.ch/co...
The recording of this course is part of the Programming for Robotics (ROS) Lecture at ETH Zurich:
www.rsl.ethz.ch...
Lecturers:
Péter Fankhauser, Dominic Jud, Martin Wermelinger
Course 2 covers following topics:
- ROS package structure
- Integration and programming with Eclipse
- ROS C++ client library (roscpp)
- ROS subscribers and publishers
- ROS parameter server
- RViz visualization
About the course:
This course gives an introduction to the Robot Operating System (ROS) including many of the available tools that are commonly used in robotics. With the help of different examples, the course should provide a good starting point for students to work with robots. They learn how to create software including simulation, to interface sensors and actuators, and to integrate control algorithms.
Objective:
- ROS architecture: Master, nodes, topics, messages, services, parameters and actions
- Console commands: Navigating and analyzing the ROS system and the catkin workspace
- Creating ROS packages: Structure, launch-files, and best practices
- ROS C++ client library (roscpp): Creating your own ROS C++ programs
- Simulating with ROS: Gazebo simulator, robot models (URDF) and simulation environments (SDF)
- Working with visualizations (RViz) and user interface tools (rqt)
- Inside ROS: TF transformation system, time, bags
use catkin build --force-cmake -G"Eclipse CDT4 - Unix Makefiles" once inside the package folder to make it eclipse friendly
if making the pkg from scratch
that is the best tutorial that i have seen, its very complet, tahnk you so much
i love the course series.
it will be better if course 2, 3 and so on has subtitle, as found on first video. because im not good at listening english
would visual studio work instead of eclipse?
Great tutorial, I understand more concepts that were unclear to me. Thanks
Great courses! Thanks so much for posting! I am having trouble with laser data coming out of the Husky. I see the topic, and receive it in my subscriber, but the range data is all "INF". Which plugin in the robot description is to generate the laser data? By the way, I'm running "melodic", but robot description looks the same in indigo.
Great explanation
Thanks for this amazing tutorials.
It's very usefull for review my knowledge of ROS :'DD
what node is publishing the scan topic?
Hi Sr. ! Another question if I can ask.
There's a version for the ROS noetic ? I cant't install the husky simulator because it seems to don't have support for ROS noetic
Awesome tutorial, THANK U !
Hello, where you got husky.launch file? The package doesn't consist it.
It was created as an exercise for Lec 1
Thanks for the tutorial. It is a bit questionable to have ros::spinOnce() when there are no call backs as in a subscriber. Then at 22.23, it is said that spinOnce() is called to make sure that the data is published, which is confusing.
where can I get the said "provided installation"? having a hard time installing eclipse neon
I'm unable to launch the husky high level controller. It keeps saying that husky.launch can't be found.
I must download the ros_best_pratices files and put inside of the Husky_highlevel_controller . After that, rename the launch file to husky.launch and some other files
Thank you so much
Hi Sr. Thank you for the knowledge
I have a question about eclipse. I can use eclipse with out a virtual machine ?
I'm trying to run the eclipse on my ubuntu 20.04 but it don't open.
it's easier to just get the VM provided from their website
How to add Additional Cmake args?
In the constructor, you have
HuskyHighlevelController::HuskyHighlevelController(ros::NodeHandle& nodeHandle) : nodeHandle_(nodeHandle){}
why is " : nodeHandle_(nodeHandle) "this part necessary??
I think it initialized the variable nodeHandle_