ROS

Robot Operating System

At the time this page primarily exists to jog my memory of specific commands and resources as I drink from the initial fire hose of learning ROS. I'm staring my learning with debian 9 stretch on an HP tx2000 notebook with a full desktop install of ROS lunar. And a partial install on a BeagleBone Blue.

In the following lunar is an HP tx2000 notebook, bluemoon is the BBBlue.

Resources

shell commands

* jeffa@lunar:~$ export ROS_MASTER_URI=http://lunar:11311
* jeffa@lunar:~$ source ~/catkin_ws/devel/setup.bash

* jeffa@lunar:~$ rosrun roscpp_tutorials listener
* jeffa@lunar:~$ rosrun roscpp_tutorials  talker
* jeffa@lunar:~$ roscd roscpp_tutorials

Guides

• [Handy setup guide] for eclipse.

gazebo key_teleop rover

using keyboard to control the robot in gazebo. answers.ros.org

jeffa@bluemoon:~$ export ROS_MASTER_URI=http://lunar:11311
jeffa@bluemoon:~$ rosrun key_teleop key_teleop.py key_vel:=cmd_vel
jeffa@lunar:~$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

http://answers.ros.org/question/206490/how-can-i-control-my-gazebo-model-using-keyboard/

Tutorial: Using Gazebo plugins with ROS

http://wiki.ros.org/teleop_tools

https://github.com/ros-controls/control_msgs

ros-teleop/teleop_twist_keyboard

jeffa@lunar:~$ export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro
jeffa@lunar:~$ roslaunch husky_gazebo husky_empty_world.launch
...
jeffa@lunar:~$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
jeffa@lunar:~$ rosservice list
jeffa@lunar:~$ rosrun controller_manager controller_manager list-types
jeffa@lunar:~$ less ~/git/husky/husky_gazebo/launch/husky_empty_world.launch