ROS Tutorials

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ROS Tutorial 1: Starting ROS Master node (roscore)

Date: Feb 16, 2015
Objective: This tutorial presents an overview on the ROS Master node and how to start it.


ROS Tutorial 2: Understanding ROS Topics, Node and Messages

Date: Feb 16, 2015
Objective: This tutorial presents an overview on the main concepts of ROS topics, nodes and messages. The example uses the turtlesim_node node of the turtlesim package to present these concepts.



ROS Tutorial 3: Writing a Publisher and a Subscriber in ROS with C++ and Python

Date: March 04, 2015
Objective: This tutorial presents how to write a simple publisher and a subscriber with ROS in C++ and Python. It is typically based on ROS tutorials for beginners related the talker/listener application.



ROS Tutorial 4: Turtlesim Cleaning Application

In Tutorial 4, I will present how to develop a simple cleaning application with turtlesim. It consists in making a coverage a full area like robot cleaners. This tutorial is subdivided into several small tutorials, each focusing on a particular action of the application.

Overview

Date: March 12, 2015
Objective: In this first part, I present an overview of application and the main methods to be developed.



Moving in a Straight Line

Date: March 12, 2015
Objective: In this second part, I present how to design, develop, compile and test a ROS node that makes the robot moves in a straight line for a particular distance.



Rotate Left/Right

Date: September 29, 2015
Objective: In this third part, I present how to develop a method to make the robot rotate left and right.



Go-To-Goal

Date: September 29, 2015
Objective: In this fourth part, I present how to develop a method to make the robot move to a goal location using a proportional controller.



Grid/Spiral Cleaning Algorithms

Date: September 29, 2015
Objective: In this fifth and last part, I present two approaches for area coverage (cleaning) namely the grid and spiral cleaning algorithms .