mfussi66 / ros-exercises

A collection of small exercises in with ROS in C++ for a Distributed Robotic Systems course.

ROS Exercises

The following is a collection of small exercises written in C++ within the ROS middleware for a course in Distributed Robotic Systems.

Building

The catkin software was used to build the programs. Copy the exercises in your catkin source directory and run

catkin_make 

Running

To run the exercises, follow the instructions:

Exercise 1

Exercise 1 uses RViz to visualize the robot pose. In a terminal, run:

roslaunch exercise1 exercise1.launch

Exercise 2

Exercise 2 uses rqt_plot and needs parameters for linear and angular speed saturations. The launch file contains the linear and angular velocities that can be modified and sent to the custom /control topic:

 <node name="topic_pub" pkg="rostopic" type="rostopic" args="pub -r 10 /control exercise2/control &quot; lin_vel: <value> &#13; ang_vel: <value> &quot;" output="screen"/>

In a terminal, run:

roslaunch exercise2 exercise2.launch vel_lin_min:=<value> vel_lin_max:=<value> vel_ang_min:=<value> vel_ang_max:=<value>

Exercise 3

In a terminal, run:

roslaunch exercise3 exercise3.launch

Exercise 4

Use the launch file in the folder to modify the initial position of the robots in the turtlesim. In a terminal, run:

roslaunch exercise4 exercise4.launch

Exercise 5

Exercise 5 uses 3 launch files to demonstrate the characteristics of the usage of potentials to get to a goal. The first two cases show the robot successfully reaching the goal:

roslaunch exercise5 exercise5_1.launch
roslaunch exercise5 exercise5_2.launch

The third case shows that the robot gets stuck in a local minima:

roslaunch exercise5 exercise5_3.launch