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Exercises
Ashfaq edited this page Oct 20, 2015
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The objective of these exercises is to enable a deeper understanding of ROS concepts.
The code repository provides a basic framework for a ROS package so as to help focus more on code instead of package settings and compile options. The output of the bellow tasks can be visualized using turtlesim_node which was used in the previous tutorials. Before running the exercise code start roscore
in one terminal and rosrun turtlesim turtlesim_node
in another terminal.
- Setup a ROS publisher node which will draw different shapes using the turtlesim tutorial.
- Turtlesim subscribes to topic turtleX/cmd_vel which is of type geometry_msgs/Twist, create a node which will publish on the correct topic to draw a specific shape using the turtlesim.
The node can be started using
rosrun beginner_tutorials ShapePublisher.py
- Create a parameter in the parameter server which allows selection of different shapes.
Code snippets here would be of help.
- Modify the first program/node into a service which will draw different shapes.
- Provided is a msg file in tut_msgs/srv/ that you can use.
- To test the code make a service call from another terminal
rosservice call /<Name of your service>
Snippets here will help.
- ROS provides another type of communication known as actions, can the above programs be converted into using an action also providing some type of feedback?