ROS-tutorial

One simple example to learn about ROS1

System requirement

• Ubuntu 20.04 + ROS Noetic

  • Option I: Using a VM on Windows
  • Option II: Using Docker
  • Option III: Dual Boot! (There are lots of resources out there, and this is the most difficult option among the three. Choose with caution)

• Some of the above option might already contain installation steps for ROS Noetic, but if not, here is the official installation document

What does this repo do

Write a simple publisher and subscriber and visualize the message

1. create a workspace and its source folder

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ source /opt/ros/noetic/setup.bash (source /opt/ros/noetic/setup.zsh)
$ catkin_make
$ cd src
$ git clone [email protected]:ne-v0y/ROS-tutorial.git
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash (source devel/setup.zsh)

2. go to ROS-tutorial, there are a few TODOs in the file, you need to create publisher and subscriber
3. to check your publisher is working, use command rostopic list to check see all live topics
4. to check your publisher is publishing content, use rostopic echo to check published content
5. to visualize bounding box, ues command rviz and in a new terminal run static tf publisher. Use Add on the left bottom coner to add by topic and choose Marker, you should be able to see the following outcome

rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map my_frame 10

6. another way to run multiple nodes in one command is using roslaunch. I have added an example file, but put a bug on purpose. Can you figure it out? 😉

Useful links

https://mirror.umd.edu/roswiki/attachments/de/ROScheatsheet.pdf