ROS and Gazebo Tutorials

Table of Contents ROS Tutorials and Gazebo Tutorials: Gazebo Tutorials with ROS for UAVs Other: Recommended for ROS work: rqt_graph ROSLab Securing and Verifying Portions of ROS

ROS Tutorials and Gazebo Tutorials:

• http://wiki.ros.org/ROS/Tutorials and http://wiki.ros.org/ROS/Introduction
• http://gazebosim.org/tutorials?tut=ros_overview
• http://gazebosim.org/tutorials?cat=guided_b&tut=guided_b2

Directed tutorials:

• Turtlebot2: http://www.theconstructsim.com/ros-for-beginners/
• Turtlebot3: Recommend 6.1, 11.2, and then playing around with the rest (7, 8, 9, and 10)
  • for fun, there is also autonomous driving and an autorace in Gazebo

Gazebo Tutorials with ROS for UAVs

• https://magiccvs.byu.edu/wiki/#!gazebo_tutorials/make_a_robot.md -- an excellent resource, has a lot of pages on more than "just" UAVs, everything from basic ROS and gazebo all the way up through creating and controlling your own UAV/MAV models

Other:

Recommended for ROS work:

rqt_graph

• rqt_graph is used for visualizing nodes in real-time: link to tutorial

# to run rqt_graph, 'source ~/catkin_ws/devel/setup.bash' in each window, then:
1$ roscore
2$ rosrun rqt_graph rqt_graph

• • Qt GUI development for ROS in C++ and in Python (mainly, for the creation of plugins that work with rqt)

ROSLab

• ROSLab is a high-level GUI editor for setting up skeleton code with nodes and topics (well-prior to run): link and github link
  • with demo abstract and tutorial demonstrations
  • requires: eclipse (requires JDK 8+), e(fx)clipse
  • see this wiki page for installation and use: wiki link

Securing and Verifying Portions of ROS

• Secure ROS(!! by SRI International, offshoot of Stanford University)
  • announcement page and main landing page
  • github page and documentation with examples
  • debian packages are available online at: link
• ROSGen (UPenn) -- NFM 2015 main paper pdf and main page for Coq code implementation (html)
  • download .zip file and technical report with VST specs

cd ~/Downloads && wget https://rtg.cis.upenn.edu/HACMS/rosgen.zip
unzip rosgen.zip
[[???]]

• • requires: (VST v1.8 works with CompCert 2.7.2 and Coq 8.6)
    • CompCert (main page)

cd ~/Downloads && wget https://github.com/ildyria/CompCert/archive/973a34753c95a3a3d2ddac582f196756f4c18ee6.zip
unzip 973a34753c95a3a3d2ddac582f196756f4c18ee6.zip
[[???]]

• • • VST (Verified Software Toolchain) (link)

cd ~/Downloads && wget http://vst.cs.princeton.edu/download/vst-1.8.tgz
tar -xvzf vst-1.8.tgz
[[???]]

• • • Coq (language) (main page, Wikipedia link, basic intro)

sudo apt install coq