Free ROS Training on 24th - 26th of May 2023 | MYBOTSHOP & QUADRUPED Robotics

General Discussion
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DISCLAIMER: Please note, the Training will be recorded for future use!

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Dear Sir or Madam,

I am contacting you today, to offer the possibility of attending our free of charge ROS Training.

Because we already have ROS Trainings prepared, which were held several times in the past, we would now like to arrange a free of charge 2 days online ROS Training, where everybody who is interested can be attend! It should be from 24th until 26th of May. The first two days will cover ROS Basics while Friday will be for already familar users!

In case of being interested in it, please send us a short reply to training@mybotshop.de. You will receive a survey link, where you can choose the dates which suits you best, and the topics which will be covered. A few days before the training will start, we will submit a roadmap on which date, at which time, which topic will be presented and explained!

May you are asking why we are doing so? It is very simple, we would like to train some of our staff as well, and thought why not making it public to everyone?!

Please feel free to redirect this Email to your friends, colleagues or Slack Group of your choice and hope to see all of you very soon in our online training :slight_smile:

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Given times are Germany - Berlin / Middle European Time Zone (MET)

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Today is the day! Starting at 9AM MET!

Following some general information:

· During the meeting we will take note who has joined when and which lessons were seen. After the meeting we will submit a short feedback questioner to improve ourselves and on which you can request a “certificate of participation”

In case I have missed anything please don’t hesitate to contact us at training@mybotshop.de otherwise see all of you tomorrow morning :slight_smile:

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Short look behind the scene - Some Hardware Devices will be included in day 2 & 3

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ROS Practice Training Session 01

Creating a ROS Training Workspace

sudo apt-get install python3-catkin-tools -y
  • Create the training workspace
mkdir trainings_ws && cd trainings_ws && mkdir src
  • Source native ROS environment
source /opt/ros/noetic/setup.bash
  • You can add this command to the .bashrc file
nano .bashrc
  • Then build your workspace
cd && cd trainings_ws && catkin build
  • Add a new package
cd src 
catkin_create_pkg training_test_package rospy roscpp
  • Source the package
cd && cd trainings_ws 
source devel/setup.bash

Adding Training Package

  • Install the ROS packages from the provided link of this session
cd && cd Downloads && unzip Hidrive.zip
  • Move it to the training directory
mv training_pkg/ ~/trainings_ws/src/
mv training_pkg/ ~/trainings_ws/src/
  • Rebuild workspace
cd && cd trainings_ws
catkin build
source devel/setup.bash
  • This can be added to the.bashrc file so that it is automatically done. e.g.:
cd && nano .bashrc
  • Go to the end of the .bashrc file by pressing the down arrow and then source command
source /home/<your_user_name>/trainings_ws/devel/setup.bash
  • Press ctrl+S to save and press ctrl+X to exit nano.

When added please close all your terminals. The new open terminals open will be sourced with your custom trainings_ws.

Multi-Terminal Usage

  • Install a multi-functional terminal
sudo apt-get install terminator -y
  • To start the terminator press all these keys at the same time ctrl+alt+t
  • Once the terminal is up you can press ctrl+shift+E to split the terminal vertically
  • To split the terminal horizontally press ctrl+shift+O
  • To close ctrl+shift+W
  • Remember to source all the terminals for your workspace (if you have not added in .bashrc file)

ROS Turtle Example

  • Start in a sourced terminal
roscore
  • Start the Turtlesim in another sourced terminal.
rosrun turtlesim turtlesim_node
  • Right click the Turtle GUI that opens and click always on top
  • Execute the teleop in another sourced terminal
rosrun turtlesim turtle_teleop_key
  • Execute python via ros topic publisher
rosrun training_pkg pubvel_py
  • Remapping the topic command to accept only reverse commands
rosrun turtlesim turtlesim_node /turtle1/cmd_vel:=/reverse_cmd
  • Publish the reversed values to reverse_cmd
rosrun training_pkg reverse_cmd_vel_py
  • A generic ROS teleop package for cmd
sudo apt-get install ros-noetic-teleop-twist-keyboard -y
  • Run the teleop
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Visualization

  • Running RVIZ
rosrun rviz rviz

  • Based on what is running, topics can be visualized in Rviz

  • To view the nodes

rqt_graph
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#!/usr/bin/env python3

import rospy
from turtlesim.msg import Pose, Color
from geometry_msgs.msg import Twist
import random

def pose_callback(pose_msg):
    rospy.loginfo(f"New Pose message received: {pose_msg.x, pose_msg.y, pose_msg.theta}")

def color_callback(color_msg):
    rospy.loginfo(f"Color of the turtle in RGB is: {color_msg.r, color_msg.g, color_msg.b}")

rospy.init_node("training_demo_sub", anonymous=False)
pose_sub = rospy.Subscriber("/turtle1/pose", Pose, pose_callback)
color_sub = rospy.Subscriber("/turtle1/color_sensor", Color, color_callback)
twist_publisher = rospy.Publisher("/turtle1/cmd_vel", Twist, queue_size=5) 
random.seed(rospy.Time(0))
rate = rospy.Rate(10)
while not rospy.is_shutdown():
    twist_msg = Twist()
    twist_msg.linear.x =  random.random()
    twist_msg.angular.z = 2*random.random()-1
    twist_publisher.publish(twist_msg)    
    rate.sleep()
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Webots installation guide

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ROS Practice Training Session 02

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Is this link working? It leads me to Training Session 1 folder.

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ROS Practice Training Session 03

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It has the additional plugins