ROS Tasks Documentation

I took screenshots of important things I found on ROS from the wiki ros , surich course, winter workshop, other websites and put them all in a google doc with headings for easy navigation. https://docs.google.com/document/d/1xJqROzBp-s3CJPQsa1XtOXCJ2lW04Bj3G4JnrTiixrY/edit?usp=sharing

Intro-ROS-Task1

Done

1. i made a catkin workspace using catkin make.
2. i made a package named task 2
3. i created a folder scripts
4. i wrote two python nodes that publish and subscribe to a topic
5. i wrote a launch file to launch the two nodes simultaneuosly
6. i launched the launch file

I just faced the problem that there were errors when I forgot to source the environment through source devel/setup.bash

Also, while writing nodes, I used tab spaces which caused errors. Then, I found out the indentation required is of 4 spaces not a tab space which is equivalent to 8 spaces

Intro-ROS-Task2

Intro-ROS-Task3

Done

https://automaticaddison.com/how-to-launch-the-turtlebot3-simulation-with-ros/#gazebo

1. I installed turtlebot3 into my workspace using the above website as the website was good and provided what I was needing : simulation of turtlebot3
2. I followed the instructions in the website to launch the simulation in Rviz
3. I launched the teleop launch file and controlled the turtlebot using my keyboard.

4. I recorded the topics publised in a bag file using rosbag
5. Then I wrote a node that will access cmd_vel topic of the rosbag, add some gaussian noise using numpy and the publish to the cmd_vel topic. I launched the simulation. I played the cmd_vel topic of the rosbag. So this time the turtlebot moved with vel values with noise added.

6. In the node, I made it print all the twist messages after addition of noise. I also printed the linear.x before addition of noise for comparison.

I faced problems with the syntax of python while writing the node due to no prior experience with python. Now, I have started learning python in a proper way.