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The document outlines an assignment to install ROS and utilize the Gazebo simulation tool to demonstrate robotic movements with turtlebot and kinematics. It introduces key ROS concepts such as nodes, messages, topics, and the roscore command. The exercise aims to enhance understanding of ROS graph concepts and the use of command-line tools for robotic simulations.

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2 views5 pages

Assignment

The document outlines an assignment to install ROS and utilize the Gazebo simulation tool to demonstrate robotic movements with turtlebot and kinematics. It introduces key ROS concepts such as nodes, messages, topics, and the roscore command. The exercise aims to enhance understanding of ROS graph concepts and the use of command-line tools for robotic simulations.

Uploaded by

jimoj44537
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd

Assignment-1

Install ROS and use the Gazebo simulation tool to implement and demonstrate
a few robotic movements using turtlebot and kinematics covered in the
workshop.
Present the outcomes and outputs obtained from the application of these
principles.

Understanding ROS Nodes:


Description: This exercise introduces ROS graph concepts and discusses the use
of roscore, rosnode, and rosrun commandline tools.
Prerequisites
For this Exercise we will use a lighweight simulator, to install it run the
following command:
$ sudo apt-get install ros-neotic-ros-tutorials
Quick Overview of Graph Concepts:
Nodes: A node is an executable that uses ROS to communicate with other
nodes.
Messages: ROS data type used when subscribing or publishing to a topic.
Topics: Nodes can publish messages to a topic as well as subscribe to a topic to
receive messages.
Master: Name service for ROS (i.e. helps nodes find each other)
rosout: ROS equivalent of stdout/stderr
roscore: Master + rosout + parameter server
Nodes:

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