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Lab0

README.md

Lab 0 - Introduction to ROS and Mini Truck

Overview & Goals

  1. Get familar with the hardware of the truck:
    • Turn the truck on and off.
    • Remote control the truck.
    • Replace the battery.
  2. Get familar with the software interface of the truck:
    • Connect to the truck via SSH.
    • Run the SLAM and controller nodes.
    • Play around with RViz visualization and the QRT control panel.
  3. Learn basic ROS sub/pub:
    • Subscribe to Odometry topic and publish control command.
  4. Learn ROS parameter server:
    • Set the parameters from launch file and command line.
    • Set the parameters from yaml file.
  5. Write a simple P controller to reach a goal.

Get Started

  1. Build the workspace from ROS_Core.
catkin_make
  1. Source the workspace. If your terminal uses bash as the shell, use
source devel/setup.bash

Otherwise, if your terminal uses zsh, use

source devel/setup.zsh
  1. Launch the ros packages and rviz visualization.
roslaunch lab0 lab0_simulation.launch

Click the 2D Nav Goal button on the top panel of RViz, and click on the map to set the goal. You should see a green triangle on the map, representing the chosen goal. At the same time, in the terminal you should also see:

[INFO] [xxxx.xxx]: Received a new goal [nan, nan]
  1. Write your code in scripts/controller/pure_pursuit.py and finish all TODOs. Repeat step 3 to see if your controller works.

Common Issues

This lab depends on several external packages, such as pySpline and networkx. If you encounter Cannot find module errors, try to use install those packages with this script.

cd <Path of your repo>/Host_Setup/RoboStack
source install_dependency.sh