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cs:ros:tutorials:start [2016/09/09 18:07] James Irwin [Pre-requisites] |
cs:ros:tutorials:start [2016/09/23 21:34] (current) Brandon Kallaher [ROS Tutorials] |
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| ===== ROS Tutorials ===== | ===== ROS Tutorials ===== | ||
| - | + | The [[ros>ROS/Tutorials|official ROS tutorials]] are very comprehensive, however I found the way they present ROS to a beginner results in a very steep learning curve. Here is our own set of tutorials, which are a work in progress. I may reference tutorials from other sites if I find them useful. | |
| - | ===== ROS Tutorials ===== | + | |
| - | This wiki is a simplified | + | |
| ==== Pre-requisites ==== | ==== Pre-requisites ==== | ||
| Line 26: | Line 24: | ||
| ROS has a few different commands that are useful for moving and looking around. They are typically in the form: | ROS has a few different commands that are useful for moving and looking around. They are typically in the form: | ||
| <code bash> | <code bash> | ||
| - | <command> <package_name> <...> | + | $ <command> <package_name> <...> |
| </code> | </code> | ||
| Most are based on the typical navigation functions: | Most are based on the typical navigation functions: | ||
| * roscd | * roscd | ||
| * rosls | * rosls | ||
| + | |||
| + | === Starting nodes === | ||
| + | == Starting a single node == | ||
| + | While you can manually find the executable (or python script) and run it manually, ROS provides a tool for quickly finding and starting a node, the ''rosrun'' command: | ||
| + | <code bash> | ||
| + | $ rosrun <package_name> <node_name> | ||
| + | </code> | ||
| + | |||
| + | == Starting multiple nodes == | ||
| + | The ''roslaunch'' command allows you to launch multiple nodes at the same time. The nodes are specified in a special file called a launch file. | ||
| + | <code bash> | ||
| + | $ rosrun <package_name> <launchfile_name> | ||
| + | </code> | ||
| + | More information about launch files can be found [[|here]] | ||
| + | |||
| + | |||
| + | |||
| + | === Viewing active nodes and topics === | ||
| + | The ''rosnode'' command shows information about nodes. You can view all currently running nodes by running | ||
| + | <code bash> | ||
| + | $ rosnode list | ||
| + | </code> | ||
| + | |||
| + | Likewise, the ''rostopic'' command shows information about topics. You can view all currently active topics by running | ||
| + | <code bash> | ||
| + | $ rostopic list | ||
| + | </code> | ||
| + | |||
| + | |||
| + | === How to Write a ROS Node === | ||
| + | Check out these tutorials for whatever language you're using: [[ros>ROS/Tutorials/WritingPublisherSubscriber(c%2B%2B) | C++ ]] | ||
| + | [[ros>ROS/Tutorials/WritingPublisherSubscriber(python) | Python ]] | ||
