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Ashfaq edited this page Oct 20, 2015 · 5 revisions

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.

  1. 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.

  1. 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.

  1. 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?
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