https://github.com/glemaitre/tutorial-ros-1

https://github.com/glemaitre/tutorial-ros-1

Last synced: 27 days ago
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• Host: GitHub
• URL: https://github.com/glemaitre/tutorial-ros-1
• Owner: glemaitre
• Created: 2016-02-02T09:30:05.000Z (almost 9 years ago)
• Default Branch: master
• Last Pushed: 2016-02-03T13:43:33.000Z (almost 9 years ago)
• Last Synced: 2024-10-28T07:54:25.368Z (2 months ago)
• Size: 25 MB
• Stars: 0
• Watchers: 3
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
Tutorial ROS #1 - Lecture notes

===============================

## ROS communication

* nodes

* topics

* messages

## ROS tools

* rqt_graph -> To see node and topic configuration

* rqt_plot -> To plot some messages data

* rqt_reconfigure -> Reconfigure some parameters of nodes

* rosbag -> Keep track of all the sensor data

* rviz -> Augmented reality tool

* RQt -> ROS GUI

## Practise

Always check the environment variable before to start.

### ROS package management

* `rospack` -> information about the ROS package

* `roscd` -> command to navigate in the package directory

* `rosmsg` -> information about the messages information

* `rosbag` -> to handle the bag file

You need to start ROS using `roscore`.

#### `rosbag`

* To play a bag -> `rosbag play file.bag`

* To record a bag -> `rosbag record -o file.bag`

#### `rostopics`

* To list the topics -> `rostopics list`

* To echo the topics -> `rostopics echo /topic`

You can start by listing to know if you are publishing any messages.

#### `rosnodes`

* To list the nodes -> `rosnode list`

* To kill node -> `rosnode kill /node`

#### Time management

We need to force the simulation time when dealing with bag.

There is a topic called `/clock` topic.

* Set the time at simulation: `rosparam set use_sim_time true`

* Get the time: `rosparam get use_sim_time`

#### `rviz`

* Setup the fixed frame to `odom`

* Add other message topics