Introspect a complex ROS system
Carry on with “Beginner Level” tutorials 8, 9 and 18 at http://wiki.ros.org/ROS/Tutorials. Also check "Intermediate Level" tutorials 2 and 3. Finally, "TF tutorials" at http://wiki.ros.org/tf/Tutorials are also quite relevant (choose c++ or python version, no need to read both).
If you have previous ROS experience, you may skip over the bits you already know, but be prepared to answer questions by the delivery team on the different concepts.
In order to test modularity and scalability it is frequent to decompose demos into independent blocks. If the demo is a simulation, the most obvious components are the simulated world and each one of the robots. You would first launch a world scenario, and latter on you would add different components using extra launch files. Your task here will be to create the blocks that create the robots.
Clone this repository, and switch to W2 branch. There you will find two launch files: world-sim.launch and robot-sim.launch. You will have to modify robot-sim.launch so that we can reuse it and create several robots in different locations with their own topics and tfs namespaced by using arguments.
To clone and change branch:
git clone -b W2 https://github.com/LCAS/CMP9767M.git
Once you have finished modifying robot-sim.launch, our demo should look like this:
We should have the following groups or equivalents:
And of course, each robot should have their own frame tree:
