ROS

ROS Tips

Resource

• ROS-Tutorials
• [中国大学MOOC———《机器人操作系统入门》讲义]https://sychaichangkun.gitbooks.io/ros-tutorial-icourse163/content/()

ROS development tools

• roboware

Launch file

Include other launch file

<include file="$(find pkg-name)/launch/launch-file-name"> <arg name="arg_name" value="set-value"/> </include>

How to debug

rosrun rqt_console rqt_console
rostopic echo /rosout 

Use rviz in luanch file

<launch>
  <node type="rviz" name="rviz" pkg="rviz" args="-d $(find package_name)/rviz/config_file.rviz" />
</launch>

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ROS Example Step by Step

Creating a ROS Workspace

create_ros_workspace.sh:

mkdir -p ~/catkin_ws/src
cd  ~/catkin_ws/src

#Initialize a new catkin workspace
catkin_init_workspace

cd  ~/catkin_ws
catkin_make

Environment config:
Add these to .ros_setup (.bashrc)

source ~/{YOUR_FULL_PATH}/devel/setup.sh --extend
export ROS_PACKAGE_PATH="${ROS_PACKAGE_PATH}:{YOUR_FULL_PATH}"

Working with ROS topics

Creating a ROS package

catkin_create_pkg mastering_ros_demo_pkg roscpp std_msgs actionlib actionlib_msgs

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ROS Advanced

RGB and depth sensors

RealSense D415/D435

roslaunch realsense2_camera rs_camera.launch align_depth:=true

Kinect v2 (Xbox One)

$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true

Common issues

Comatible with Conda

refer: https://github.com/udacity/RoboND-Python-StarterKit/blob/master/doc/linux_ros_anaconda_warning.md

Reference

• RGB-D Handheld Mapping