Training-Y22

This is the repoitory for assignment submission of Software Subsystem of Team AUV-IITK

Assignment 1: Bandit Wargame Assignment

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Compulsory for ALL subsystems You are required to complete the bandit wargame till level 15. This assignment will get you accustomed with CLI interface and the usage of basic bash commands.

Steps to follow to make the submission:

• Fork this repository
• Make a folder titled "[Name]_[Roll No.]"
• Make a markdown file (Readme.md/Submission.md) and list down the steps documented by you for the levels
• Create a PR to make the submission.

Note:

• You may use the internet to understand the required commands and concepts.
• Make sure to properly document your steps for each level in the README.md file.
• Be sure to give a proper Title to your PR. (The title of PR should be "[Assignment # Submission]_[Name]_[Roll Number]_[Subsystem]")
  An example submission can have the title "Assignment 1 Submission_Tejas Gupta_211107_Software"
• If you encounter any issues or have questions, feel free to ask for assistance.

Please let me know if you need further clarification

Some useful resources :

• Guide to markdown file syntax - Link

Deadline: 18 May 2023, 23:59:59 IST (Not extendable !!)

Software Subsystem Assignments:

These assignemnts are compulsory for the junior team members in software subsystem or those who would like to shift there subsystem. Though the first assignment is recommended for all.

Contents

• Assignment 1
• Assignment 2

Assignment 1 ROS Basics

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Prerequisites:

• Basic knowledge of version control and md file syntax
• Basic knowledge of bash scripting

Aim:

Understanding basic concepts related to ROS: nodes, topics, publishers, subscribers, messages and packages

Deadline:

31st May, 2023

Submission Format:

• Create a Pull Request against the Submission branch
• Your submission should contain your source (src) folder from your workspace and a markdown file explaining all the procedures to code in detail

Tasks:

• Create a catkin workspace for doing your assignments.
• Create a package titles math in that workspace.
• Implement two ROS nodes within the "math" package:
  • Node 1: input_node
    • Create two ROS topics.
    • Publish two numbers (preferably random) on the topics.
  • Node 2: output_node
    • Subscribe to the topics published by input_node.
    • Calculate the sum of the two numbers.
  • Publish the sum on a separate topic.
    • Create a ROS service named "add_two_numbers".
    • The service should accept two numbers from the topics published by input_node.
    • The service should return the sum of the two numbers.

Resources:

Start with the official ROS tutorials here; Do note Intermediate ones are also compulsory.Other resources will be posted as required

Assignment 2 Mapping and Simulation

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Aim:

Understanding mapping and simulating the world.

Deadline:

31st July, 2023

Submission Format:

• Create a pull request (new) against the submission branch.
• Your PR should contain the src folder from the workspace.
• Your PR should contain the README.md file with all the details about how to run your code and the procedure you followed.
• A screen recording of the simulation is required (upload it on youtube and add the link in the README).

Task:

Create a new package named demo-gazebo. Learn about how to create world files, and create one in the package.

a. Customize it as per your choice with the following requirements:

• A model from the default gazebo library ex: postbox.
• A custom model outside the gazebo library.
• An additional source of light
• A custom physics solver

b. Write a launch file to visualize/load this world in the simulation environment. The launch file goes into the launch folder.

c. Learn about Robot Modelling, explicitly URDF and XACRO.

• Create a robot using the URDF file. (You are free to refer from the internet for this one).
• To move the robot use the differential drive plugin. Configure it to move your robot.
• Spawn the robot in the world you had created and try moving it from the terminal.
• Learn about teleop key package. Use it to drive your robot.

Useful Resources:

Lauch files, Physics engine

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Bonus Assignments: Coming Soon !!