Programming for Robotics (ROS) Course 3

The slides are available here:

The recording of this course is part of the Programming for Robotics (ROS) Lecture at ETH Zurich:

Lecturers:
Péter Fankhauser, Dominic Jud, Martin Wermelinger

Course 3 covers following topics:
– TF Transformation System
– rqt User Interface
– Robot models (URDF)
– Simulation descriptions (SDF)

About the course:
This course gives an introduction to the Robot Operating System (ROS) including many of the available tools that are commonly used in robotics. With the help of different examples, the course should provide a good starting point for students to work with robots. They learn how to create software including simulation, to interface sensors and actuators, and to integrate control algorithms.

Objective:
– ROS architecture: Master, nodes, topics, messages, services, parameters and actions
– Console commands: Navigating and analyzing the ROS system and the catkin workspace
– Creating ROS packages: Structure, launch-files, and best practices
– ROS C++ client library (roscpp): Creating your own ROS C++ programs
– Simulating with ROS: Gazebo simulator, robot models (URDF) and simulation environments (SDF)
– Working with visualizations (RViz) and user interface tools (rqt)
– Inside ROS: TF transformation system, time, bags

[daniel_li]

Is there any way to download pdf exercises ?

[noblejacob]

Building a catkin workspace
mkdir name of your workspace
2) Create src folder in the catkin workspace
cd name of your workspace
mkdir src
3) Build the packages in the catkin workspace:
cd ~/ name of your workspace
catkin_make

[colarey]

Sir is it okay if I can work with ROS using Ubuntu on WSL instead of VMware ? And also is a NVIDIA graphics card required? My PC had 8GB of RAM with only an Intel Iris Graphics card

[HBNZ]

i need your help with few ros questions, i am using irobot from gazebo, i have spwan it in gazebo and using teleop to move it.
being new to ros i need help with -Create a C++ node that subscribes to /cmd_vel topic advertised by Keyboard Teleop .

Challenge Question: Setup “rviz” to display the topics published by the nodes. For example,
the /odom, laser scan.