-
Notifications
You must be signed in to change notification settings - Fork 14
/
Copy pathros.html
227 lines (206 loc) · 8.04 KB
/
ros.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd">
<html><head><title>Pranav Bhounsule</title>
<style type="text/css">
body {
background-color : #ffffff;
color : #000000;
margin : 0px 0px 0px 0px;
}
#content {
background-color : #ffffff;
position : absolute;
left : 200px;
top : 0px;
}
#leftnav {
position : fixed;
width : 150px;
height : 100%; border-right : 2px solid #000;
margin-right : 15px;
padding-bottom : 20px;
background-color : #002244;
}
</style></head><body topmargin="0" leftmargin="0">
<div style="width: 203px;" id="leftnav"><br>
<div style="text-align: left;">
<h1 style="margin-top: 0px; height: 74px; margin-left: 10px; width: 191px;"><small style="color: rgb(244, 115, 33);"><small><a style="color: rgb(255, 102, 0);" href="ros.html#top">Navigation Bar</a><br>
</small></small></h1>
</div>
<div style="text-align: left; width: 204px;">
<div style="margin-left: 16px; margin-top: 14px; width: 175px; height: 133px;"><a style="color: rgb(204, 204, 255);" href="ros.html#read">Read this
before you start</a><br>
<br>
<a style="color: rgb(204, 204, 255);" href="ros.html#part1">Part 1:
Introduction</a><br>
<br>
<a style="color: rgb(204, 204, 255);" href="ros.html#part2">Part 2:
Modeling</a><br>
<br>
<a style="color: rgb(204, 204, 255);" href="ros.html#resources">Resources</a><br>
<br>
<a style="color: rgb(204, 204, 255);" href="ros.html#acknowledge">Acknowledgements</a><br>
<br>
<a style="color: rgb(204, 204, 255);" href="ros.html#updates">Updates</a><br>
<br>
<br>
<br>
<big> </big><br>
<br>
<br>
<br>
</div>
<big> <br><br>
<br>
</big><big> <br>
<a style="color: rgb(255, 204, 255);" href="http://webdesign.about.com/"><small><small>template
source</small></small></a></big><br>
</div>
</div>
<!-- ***************************************************************************************** -->
<!-- Main content --><br style="color: red;">
<div style="left: 231px; width: 711px; top: 0px; height: 1293px;" id="content">
<div style="text-align: center;">
<div style="text-align: left; margin-top: 0px; margin-left: 0px; width: 857px; height: 989px;"><br>
<div style="text-align: center;"><br>
<a name="top"></a><big><big><big>ME5493 Robotics @ The
University of Texas at San Antonio</big></big></big><br>
<br>
<big><big>Module on Robot Operating System v1 (ROS) (link to this page:
<a href="http://tiny.cc/pranavb_ros">tiny.cc/pranavb_ros</a>)<br>
<a href="index.html"><small>By Pranav Bhounsule</small></a> <small>([email protected])</small><br>
</big></big></div>
<big><big><br>
<a name="read"></a>Read this before you start</big></big><br>
<br>
<span style="font-weight: bold;">Overview: </span>This material is
aimed to help people who want to learn the basics of ROS but have very
limited knowledge of C++ or Ubuntu. A little bit of programming
experiences (e.g., C, MATLAB, Python) would be helpful but not
necessary. <br>
<br>
<span style="font-weight: bold;">How to use the material: </span>Follow
the lessons 1-7 then do the problems to learn about ROS. Then move onto
8-11 then do the related problem to learn about modeling and
visualization of manipulators using ROS. The lesson plans require you
to follow a set of instructions in the read_me file. The problem set
tests you on the lesson plan. It is very important to do the problems
to reinforce the lessons. You will learn best by coding rather than
just reading the material. <br>
<br>
<span style="font-weight: bold;">What is needed:</span> A windows/mac
machine that has atleast 8 GB RAM. You will install Virtual Box and
copy the disk image provided by ROS-Industrial to get Ubuntu with
ROS-Kinetic preinstalled on it. You will work in C++ environment within
Ubuntu. If you have Ubuntu then you only need to install ROS-kinetic
(see Jason O Kane's book, Chapter 1, below for instructions).<br>
<br>
<a href="ros/linux.txt">Useful linux commands</a><br>
<br>
<br>
<big><big><a name="part1"></a>Part 1: Introduction</big></big><br>
<br>
<a href="ros/ROS_OKane_pab_notes.pdf">Jason OKane's book, with comments
to help with coding</a><br>
<ol>
<li><a href="ros/01.setup_ROS.zip">ROS setup</a></li>
<li><a href="ros/02.OKane_chapter2.zip">OKane Chapter 2</a><a href="ros/02.OKane_chapter2.zip">: Basic ROS commands, nodes, package,
messages, and topics</a><br>
</li>
<li><a href="ros/03.setting_catkin_ws.zip">Setting catkin workspace<br>
</a></li>
<li><a href="ros/04.hello_world.zip">Hello World in ROS</a></li>
<li><a href="ros/05.pub_sub2.zip">Publisher and Subscriber </a></li>
<li><a href="ros/06.params.zip">Parameters<br>
</a></li>
<li><a href="ros/07.services.zip">Services</a></li>
</ol>
Problems based on <a href="ros/Hw8_ros.pdf">1-7 Introduction to ROS</a><br>
<br>
<br>
<br>
<big><big><a name="part2"></a>Part 2: Modeling</big></big><br>
<br>
<ol start="8">
<li><a href="ros/08.learning_urdf.zip">Learning urdf</a></li>
<li><a href="ros/09.simple_urdf.zip">Simple urdf. Learning to use
xacro. Planar double pendulum model</a></li>
<li><a href="ros/10.simple_urdf_state_publisher.zip">Simple urdf with
state publisher</a></li>
<li><a href="ros/11.simple_urdf_tf.zip">Simple urdf with tf.</a><br>
</li>
</ol>
<br>
Problems based on Modeling based on <a href="ros/Hw9_ros.pdf">8-11
Modeling</a><br>
<br>
<br>
<br>
<big><big><a name="resources"></a>Resources</big></big><br>
Want more? I recommend going through ROS Industrial training (link
below).<br>
<ul>
<li>SwRI ROS Industrial Training Material (free), <a href="https://github.com/ros-industrial/industrial_training/wiki">https://github.com/ros-industrial/industrial_training/wiki</a></li>
<li>Jason O'Kane's Gentle Introduction to ROS (free ebook) <a href="https://www.cse.sc.edu/%7Ejokane/agitr/">https://www.cse.sc.edu/~jokane/agitr/</a></li>
<li>ROS URDF tutorials (free), <a href="http://wiki.ros.org/urdf/Tutorials">http://wiki.ros.org/urdf/Tutorials</a></li>
<li>ROS tutorial by Clearpath Robotics (free), <a href="http://www.clearpathrobotics.com/assets/guides/ros/">http://www.clearpathrobotics.com/assets/guides/ros/</a><br>
</li>
</ul>
<br>
<br>
<big><big><a name="acknowledge"></a>Acknowledgements<br>
</big></big>
<ul>
<li>Automation and Data Systems Division at <a href="http://www.swri.org/">Southwest Research Institute</a> (SwRI)
for their ROS-Industrial training material. <br>
</li>
</ul>
<ul>
<li>Austin Deric, Jeremy Zoss, Matt Robinson from SwRI for
providing hands-on ROS-Industrial training.</li>
</ul>
<ul>
<li>Paul Evans from SwRI and Shaun Edwards from PlusONE Robotics for
their encouragement to teach ROS as part of the Robotics curriculum at
UTSA<br>
</li>
</ul>
<ul>
<li><a href="https://www.cse.sc.edu/%7Ejokane/">Jason O'Kane</a>
Professor from U of South Carolina for his ROS book, which he makes
available free of charge.</li>
</ul>
<ul>
<li>Geoffrey Chiou, Graduate Student Mechanical Engineering, UTSA for
help with the tf package.</li><br>
<br>
</ul><a name="updates"></a><big style="font-weight: bold;">Last updated</big> Dec 03, 2017<br>
<br>
Dec 3, 2017, Part 2: Modeling streamlined 8, 9, 10, and 11.<br>
Nov 26, 2017: Part 1: Introduction, Streamlined examples
05. pub_sub2, 06. parameters, 07.services and updated OKane pdf noted<br>
<br>
<table style="text-align: left; width: 275px; height: 89px; top: 1312px;" border="0" cellpadding="2" cellspacing="2">
<tbody>
<tr>
<td style="vertical-align: top;"><br>
<!-- Start of StatCounter Code for Default Guide -->
<script type="text/javascript">
var sc_project=11548221;
var sc_invisible=0;
var sc_security="78f8b116";
var scJsHost = (("https:" == document.location.protocol) ?
"https://secure." : "http://www.");
document.write("<sc"+"ript type='text/javascript' src='" +
scJsHost+
"statcounter.com/counter/counter.js'></"+"script>");
</script><noscript><div class="statcounter"><a title="website
statistics" href="http://statcounter.com/" target="_blank"><img class="statcounter" src="//c.statcounter.com/11548221/0/78f8b116/0/" alt="website statistics"></a></div></noscript>
</td>
</tr>
</tbody>
</table>
<br>
</div>
</div>
</div>
</body></html>