Information

Instructor: Dominic Jud, Martin Wermelinger, Marco Hutter Title: Programming for Robotics - Introduction to ROS Refererences

• Lecture
• ROS Wiki
• Tutorials

I'm going to study and summarize this course. Every picture and content belong to lectures.

Date: May 16, 2020 Updated: May 18, 2020

Overview

• ROS master, nodes, and topics
• Console commands
• Catkin workspace and build system
• ROS Launch
• Gazebo Simulator

ROS Master

• Manages the communication between nodes
• Every node registers at startup with the master
• Commend: Start a master

roscore

ROS Nodes

• Single-purpose, executable program
• Organized in packages
• Each of packages can be compiled, executed, and managed individually
• Commend
• Run a node

rosrun package_name node_name

• List active nodes

rosnode list

• Get the node information

rosnode info node_name

ROS Topics

• Nodes communicate over topics