AUT-Robotics

In this course, we will work with ros-noetic and gazebo simulator

• ROS Documentation
• ROS-Noetic installation
• Creating a ROS catkin Workspace
• Creating a ROS Package
• ROS Help
• Creating ROS Node

Creating a ROS Catkin Workspace

cd Desktop/
mkdir -p catkin_ws1/src
cd catkin_ws1/src/
catkin_init_workspace
cd ..
catkin_make

Creating a ROS Package

cd Desktop/catkin_ws1/src/
catkin_create_pkg package_name std_msgs rospy

ROS Help

• ros packages help: rospack help
• for every terminal run: . devel/setup.bash
• ros change directory: roscd package_name
• check dependencies: rospack depends package_name

Creating and Running ROS Node

• run master node
  in terminal 1 run:
  cd Desktop/catkin_ws1
roscore

• run non-master node
  in terminal 2 run:
  cd Desktop/catkin_ws1/src/package_name/src/
touch node_name.py
chmod +x node_name.py
cd ../../..
rosrun package_name node_name.py