2nd ROS Tutorial Seminar 2015/11/08

2ROS

!

ROS

2nd ROS Tutorial Seminar

Section 22015/11/08

www.facebook.com/yoonseok.pyo

3

ROSRobot Operating System

ROSRobot Operating System

6http://www.ros.org/core-components/

7http://www.ros.org/core-components/

8

9

ROSRobot Operating System

1 3,4 Command-Line Tools .

rospack, roscd, rospd, rosls, rosed, roscp, rosdep, roswf, catkin_create_pkg, wstool, catkin_make,

roscore, rosrun, roslaunch, rosnode, rostopic, rosservice, rosparam, rosmsg, rossrv, rosbag, tf_echo

ROS Cheatsheet .

!https://github.com/oroca/oroca_ros_tutorials/raw/master/ROScheatsheet_indigo_catkin.pdf

https://github.com/oroca/oroca_ros_tutorials/raw/master/ROScheatsheet_indigo_catkin.pdf

ROSRobot Operating System

14https://youtu.be/OqOkpZBOpxY

https://youtu.be/OqOkpZBOpxY

15https://youtu.be/qtoAJ1wzB6s

https://youtu.be/qtoAJ1wzB6s

16https://youtu.be/6afrMnEmXFI

https://youtu.be/6afrMnEmXFI

17https://youtu.be/j5v5fKppcQo

https://youtu.be/j5v5fKppcQo

18https://youtu.be/Jf4kgPEzY4s

https://youtu.be/Jf4kgPEzY4s

19https://youtu.be/ath8uNv9c_Q

https://youtu.be/ath8uNv9c_Q

20https://youtu.be/9lbuLAD1c_4

https://youtu.be/9lbuLAD1c_4

21https://youtu.be/xCRsszVAP1E

https://youtu.be/xCRsszVAP1E

22https://youtu.be/5rMv3ZDyFwQ

https://youtu.be/5rMv3ZDyFwQ

23https://www.youtube.com/user/DARPAtv

https://www.youtube.com/user/DARPAtv

RViz

!

25http://wiki.ros.org/rviz

$ sudo apt-get install ros-indigo-rviz

$ rosrun rviz rviz

$ rviz

26

27

1. 3D 2. 3. 4. 5. 6.

28

xyz ( )

2 (TF)

29

LRF, IMU, USB Camera,

Depth Camera, Robot Model Rviz .

PC Rviz .

30

$ sudo apt-get install ros-indigo-rplidar-ros$ sudo chmod a+rw /dev/ttyUSB0$ roslaunch rplidar_ros rplidar.launch

$ sudo apt-get install ros-indigo-urg-node$ sudo chmod a+rw /dev/ttyACM0$ rosrun urg_node urg_node

* Rviz Displays

1) Fixed Frame Global Options > Fixed Frame = laser

2) Axes rviz Add , Axes . (Length Radius )

3) LaserScan rviz Add , LaserScan .(Topic , Color Transformer, Color )

(RPLiDAR )

(HOKUYO )

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$ sudo apt-get install ros-indigo-myahrs-driver$ rosrun myahrs_driver myahrs_driver _port:=/dev/ttyACM0$ roslaunch myahrs_driver myahrs_driver.launch

(withrobot myAHRS+)

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$ sudo apt-get install ros-indigo-uvc-camera$ sudo apt-get install ros-indigo-image-*$ rosrun uvc_camera uvc_camera_node

$ rosrun uvc_camera uvc_camera_node _device:=/dev/video?

* Rviz Displays

1) Fixed Frame Global Options > Fixed Frame = camera

2) rviz Add , Image .(Add > by display > rviz > Image)

3) Image > Image Topic "/image_raw" .

2 ,

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35

$ cd ~/Downloads/$ git clone https://github.com/PercATI/RealSense_ROS.git$ cd RealSense_ROS/r200_install/$ sh install.sh$ cd ~/Downloads/RealSense_ROS/realsense_dist/2.3/$ sh install_realsense_ros.sh $ roslaunch realsense realsense_r200_launch.launch

* Rviz Displays

1) Fixed Frame Global Options > Fixed Frame "camera_depth_frame" .

2) PointCloud2 rviz Add , PointCloud2 .

3) Topic

(RealSense )

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$ sudo apt-get install ros-indigo-openni2-camera ros-indigo-openni2-launch$ tar -xvf Sensor-Bin-Linux-x64-v5.1.0.41.tar.bz2$ cd Sensor-Bin-Linux-x64-v5.1.0.41/$ sudo sh install.sh $ roslaunch openni2_launch openni2.launch

* Rviz Displays

1) Fixed Frame Global Options > Fixed Frame "camera_depth_frame" .

2) PointCloud2 rviz Add , PointCloud2 .

3) Topic

(*Xtion CD)

(ASUS Xtion )

37

38

Xtion CD

3

39

4

40

Xtion CD

4

ROSRobot Operating System

$ sudo apt-get install ros-indigo-rqt ros-indigo-rqt-common-plugins

$ rqt

44

45

46

47

rqt_image_view

rqt_graphrqt_plotrqt_bag

48

$ rosrun uvc_camera uvc_camera_node

$ rqt [Plugins] [Visualization] [Image View]$ rqt_image_view

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$ rosrun turtlesim turtlesim_node$ rosrun turtlesim turtle_teleop_key$ rosrun uvc_camera uvc_camera_node

$ rqt [Plugins] [Introspection] [Node_Graph]$ rqt_graph

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$ rosrun turtlesim turtlesim_node$ rosrun turtlesim turtle_teleop_key

$ rqt [Plugins] [Visualization] [Plot]$ rqt_plot /turtle1/pose/

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$ rosrun uvc_camera uvc_camera_node$ rosbag record /image_raw

$ rqt [Plugins] [Logging] [Bag]$ rqt_bag

52

Yoonseok Pyopassionvirus@gmail.com

www.robotpilot.net

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~ !*^^*

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~

Slide Number 1 ROS Slide Number 301. ROS 01. ROS Slide Number 6Slide Number 7Slide Number 8Slide Number 901. ROS Slide Number 1101. ROS Slide Number 13Slide Number 14Slide Number 15Slide Number 16Slide Number 17Slide Number 18Slide Number 19Slide Number 20Slide Number 21Slide Number 22Slide Number 23Slide Number 24Slide Number 25Slide Number 26Slide Number 27Slide Number 28Slide Number 29Slide Number 30Slide Number 31Slide Number 32Slide Number 33Slide Number 34Slide Number 35Slide Number 36Slide Number 37Slide Number 38Slide Number 39Slide Number 4001. ROS Slide Number 42Slide Number 43Slide Number 44Slide Number 45Slide Number 46Slide Number 47Slide Number 48Slide Number 49Slide Number 50Slide Number 51Slide Number 52Slide Number 53 ~

/ColorImageDict > /JPEG2000ColorACSImageDict > /JPEG2000ColorImageDict > /AntiAliasGrayImages false /CropGrayImages true /GrayImageMinResolution 300 /GrayImageMinResolutionPolicy /OK /DownsampleGrayImages true /GrayImageDownsampleType /Bicubic /GrayImageResolution 300 /GrayImageDepth -1 /GrayImageMinDownsampleDepth 2 /GrayImageDownsampleThreshold 1.50000 /EncodeGrayImages true /GrayImageFilter /DCTEncode /AutoFilterGrayImages true /GrayImageAutoFilterStrategy /JPEG /GrayACSImageDict > /GrayImageDict > /JPEG2000GrayACSImageDict > /JPEG2000GrayImageDict > /AntiAliasMonoImages false /CropMonoImages true /MonoImageMinResolution 1200 /MonoImageMinResolutionPolicy /OK /DownsampleMonoImages true /MonoImageDownsampleType /Bicubic /MonoImageResolution 1200 /MonoImageDepth -1 /MonoImageDownsampleThreshold 1.50000 /EncodeMonoImages true /MonoImageFilter /CCITTFaxEncode /MonoImageDict > /AllowPSXObjects false /CheckCompliance [ /None ] /PDFX1aCheck false /PDFX3Check false /PDFXCompliantPDFOnly false /PDFXNoTrimBoxError true /PDFXTrimBoxToMediaBoxOffset [ 0.00000 0.00000 0.00000 0.00000 ] /PDFXSetBleedBoxToMediaBox true /PDFXBleedBoxToTrimBoxOffset [ 0.00000 0.00000 0.00000 0.00000 ] /PDFXOutputIntentProfile () /PDFXOutputConditionIdentifier () /PDFXOutputCondition () /PDFXRegistryName () /PDFXTrapped /False

/CreateJDFFile false /Description > /Namespace [ (Adobe) (Common) (1.0) ] /OtherNamespaces [ > /FormElements false /GenerateStructure false /IncludeBookmarks false /IncludeHyperlinks false /IncludeInteractive false /IncludeLayers false /IncludeProfiles false /MultimediaHandling /UseObjectSettings /Namespace [ (Adobe) (CreativeSuite) (2.0) ] /PDFXOutputIntentProfileSelector /DocumentCMYK /PreserveEditing true /UntaggedCMYKHandling /LeaveUntagged /UntaggedRGBHandling /UseDocumentProfile /UseDocumentBleed false >> ]>> setdistillerparams> setpagedevice