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Table of Contents ROS workshop Goal Preparation Schedule

ROS workshop

Goal

Aim of the workshop is to gain more in depth knowledge of ROS, how it works and to exchange tips and tricks. The workshop will be divided into four parts during the day. The first part is introductionary level, the second covers more advanced tools. The third part is the creation of packages and the last part is networking and robot control.

Preparation

To participate in this workshop, bring your own laptop with ROS and ubuntu installed. There will be laptops from the saxion as a backup, but your own laptop is highly recommended as you will be able to take the work back from the workshop.

The choses ROS release is indigo, and the ubuntu release is 14.04 LTS. Migrating from hydro should not take to much effort (the change from electric to hydro was more painful ;))

Schedule

• 9:00 Welcome and introduction to ROS basics
  • Commandlines
    • Terminator
    • roscd
    • roscore, rosrun, roslaunch
  • Turtlesim
    • Rostopic
    • Rosservice
    • Rosparam
  • Rqt
    • Logging
    • node graph
    • topic monitoring
• 10:45 Coffee break
• 11:00 Advanced tools
  • X80sv robot simulation
    • Configure workspace
    • Git checkout
    • Launch files
  • Rviz
    • Robot model
    • TF tree --> rqt tree
    • mapping
    • odometry
• 12:30 lunch
• 14:00 Exercise with launchfiles and packages
  • Create package
  • Create launch file
  • Create two nodes in a package, publisher and subscriber
• 15:30 Coffee break
• 16:00 Ros and networking
  • Multimaster
  • ros_master_uri
• 17:00 end of the day