karanamrahul / beginner_tutorials

ENPM808X ROS beginner Tutorials

Software Development for Robotics (ENPM808x) ROS Exercise

Overview of the project

1. ROS Publisher/Subsciber example following the official ROS Tutorials
2. ROS Services and Logging example following the official ROS Tutorials
3. ROS Recording Bags,tf frames and rostest following the official Tutorilals

Dependencies

The following dependencies are required to run this package:

1. ROS Noetic
2. catkin
3. Ubuntu 20.04 For installing ROS Noetic
4. xterm

To install xterm

sudo apt install xterm

Standard install via command-line

cd ~/catkin_ws/src
mkdir beginner_tutorials
cd beginner_tutorials
git clone --recursive https://github.com/karanamrahul/beginner_tutorials
cd ../..
catkin_make

To run the listener and talker please run the below commands

Open two terminals #1

roscore

#2 You can input the logger_level from these 5 levels fatal,error,warn,debug,info. i.e default is set to info.

cd catkin_ws
source devel/setup.bash
roslaunch beginner_tutorials beginner_tutorials.launch param:=<logger_level>

Testing using rostest and gtest demo

#1 Terminal - To launch the test.launch using roslaunch

cd catkin_ws
source devel/setup.bash
roslaunch beginner_tutorials test.launch

#2 Terminal To view the test results

cd catkin_ws
source devel/setup.bash
rostest beginner_tutorials test.launch

Test Output

ubu@ubu-QEMU-Virtual-Machine:~/catkin_ws$ rostest beginner_tutorials test.launch 
... logging to /home/ubu/.ros/log/rostest-ubu-QEMU-Virtual-Machine-26247.log
[ROSUNIT] Outputting test results to /home/ubu/.ros/test_results/beginner_tutorials/rostest-test_test.xml
[FATAL] [1636935346.041828165]: FATAL Logger Level.
[Testcase: testtest_pub] ... ok

[ROSTEST]-----------------------------------------------------------------------

[beginner_tutorials.rosunit-test_pub/testpubName][passed]
[beginner_tutorials.rosunit-test_pub/testServiceOut][passed]
[beginner_tutorials.rosunit-test_pub/checkmaster][passed]

SUMMARY
 * RESULT: SUCCESS
 * TESTS: 3
 * ERRORS: 0
 * FAILURES: 0

rostest log file is in /home/ubu/.ros/log/rostest-ubu-QEMU-Virtual-Machine-26247.log

Bag recording and inspecting the TF frames demo

#1 Terminal

roscore

#2 Terminal - We are recording our data with the warn logger level which will store the talker data in record_data.bag

cd catkin_ws
source devel/setup.bash
roslaunch beginner_tutorials beginner_tutorials.launch param:=warn record:=true

#3 To view tf frames we need to use tf2_tools viewframes - frames.pdf is generated for the record_data.bag

cd catkin_ws
source devel/setup.bash
rosrun tf2_tools view_frames.py
|or|
rosrun rqt_tf_tree rqt_tf_tree
--> to open the frames.pdf in cmd
evince frames.pdf

#4 To view the bag recording info

cd catkin_ws
source devel/setup.bash
cd src/beginner_tutorials/results/record_data.bag
rosbag info record_data.bag

#Output

ros info record_data.bag 
path:        record_data.bag
version:     2.0
duration:    14.7s
start:       Nov 14 2021 14:35:40.61 (1636918540.61)
end:         Nov 14 2021 14:35:55.32 (1636918555.32)
size:        169.6 KB
messages:    821
compression: none [1/1 chunks]
types:       rosgraph_msgs/Log  [acffd30cd6b6de30f120938c17c593fb]
             std_msgs/String    [992ce8a1687cec8c8bd883ec73ca41d1]
             tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
topics:      /chatter      139 msgs    : std_msgs/String   
             /rosout       271 msgs    : rosgraph_msgs/Log  (3 connections)
             /rosout_agg   272 msgs    : rosgraph_msgs/Log 
             /tf           139 msgs    : tf2_msgs/TFMessage
             

Listener node demo from recorded bag

#1 Terminal 1

roscore

#2 Terminal 2

cd catkin_ws
source devel/setup.bash
rosbag play src/beginner_tutorials/results/record_data.bag

#3 Terminal 3

cd catkin_ws
source devel/setup.bash
rosrun beginner_tutorials listener