Research Track I - first assignment

In this first assignment we were asked to control an holonomic robot within a 2d space with a simple 2d simulator, Stage. The simulator can be launched by executing the command:

rosrun stage_ros stageros $(rospack find myfirstassignment)/world/exercise.world

How the project is structured

Once I have created a new ROS package, two ROS nodes have been developed. For writing the code I have chosen to adopt C++ programming language.

The first node

The first node, random_movement.cpp, implement:

1. A ROS publisher
2. A ROS subscriber
3. A ROS client

The second node

The second node random_service.cpp, implement a server whose aim is to compute 2 random numbers

The rdm.srv file

It is visible in the srv folder and it manages the request/reply of the custom service

Rqt-graph (ROS tool)

By running the following command:

rosrun rqt_graph rqt_graph

it is possible to show a dynamic graph, depicting what is going on within the System.

Documentation

The documentation of this project, obtained by means of DoxyGen is visible, within the docs folder

Meta

Federico Civetta– s4194543 – [email protected]

Distributed under none licence

https://github.com/fedehub

How to launch

1. Firstly, create a folder named "myfirstassignment"
2. Within the aforementioned folder, open the terminal and run

git clone https://github.com/fedehub/myfirstassignment/

3. Secondly, start the master in background, by running:

roscore &

3. Then, to launch the simulation environment, please open a new shell tab and run the command

rosrun stage_ros stageros $(rospack find myfirstassignment)/world/exercise.world

4. To launch the firs node, open another shell tab and digit:

rosrun myfirstassignment rand_ser

5. To launch the second node, open another shell tab and digit:

rosrun myfirstassignment rand_mov

So far, the robot should appear in the simulation environment and once it reaches a target, it should move toward another direction, looking for the next one.

Release History

• 0.1.0

• The first proper release

• 0.0.1

• Work in progress

Contributing

1. Fork it (https://github.com/fedehub/myfirstassignment/fork)
2. Create your feature branch (git checkout -b feature/fooBar)
3. Commit your changes (git commit -am 'Add some fooBar')
4. Push to the branch (git push origin feature/fooBar)
5. Create a new Pull Request