ROS Tutorials

Practicing writing a wiki page- all information below is incomplete until otherwise noted.

Aside to editor, to improve:

This tutorial assumes that you will be working in ROS-hydro on Ubuntu 12.04. This wiki is based on the tutorials given here.

Beginner Level

Open the terminal. To complete each step, type in the following commands in the order shown.

1. Installing and configuring your ROS environment
2. Navigating the ROS Filesystem
3. Creating a ROS Package
4. Building a ROS Package
5. Understanding ROS Nodes
6. Understanding ROS Topics
7. Understanding ROS Services and Parameters
8. Using rqt_consol and roslaunch

1. Using rosed to Edit Files in ROS

1. Creating a ROS msg and srv

Writing a Simple Publisher and Subscriber (C++)

Writing the Publisher Node

1) In a terminal, move to your beginner_tutorials folder:

  cd ~/catkin_ws/src/beginner_tutorials 

2) Create the file talker.cpp:

  gedit src/talker.cpp

3) In the gedit editor, paste all from this link. Save the file and close the editor. For information on what is inside this file, see this link. In a nutshell, it initializes the ROS system, advertise what we are doing, and finally loop what we are doing.

Writing the Subscriber Node

1) In a terminal, move to your beginner_tutorials folder:

  cd ~/catkin_ws/src/beginner_tutorials 

2) Create the file listener.cpp:

  gedit src/listener.cpp

3) In the gedit editor, paste all from this link. Save the file and close the editor. For information on what is inside this file, see this link. In a nutshell, it initializes the ROS system, subscribes to the topic 'chatter', spin (wait for messages), when message arrives call the chatterCallback() function.

Building Nodes