Hello (Real) World with ROS – Robot Operating System

This is complete ROS environment for the course: Hello (Real) World with ROS – Robot Operating System.

All the course created ROS package and programming assignment are included.

Course Outline

• Week 1: ROS Essentials:
• • Fundamental ROS concepts
  • Build your own ROS Application
  • ROS Services
  • ROS Actions
  • ROS Launch Files
  • Week 1 Conclusion
• Week 2: Build your own robot environment:
• • Overview
  • Introduction to URDF
  • Changing Worlds
  • Simple Geometry
  • Using Existing Models
  • Week 2 Conclusion
• Week 3: Autonomous Navigation:
• • Recap
  • Overview
  • Mapping
  • Localization
  • Path planning and obstacle avoidance
  • Mid-survey
  • Additional learning module
• Week 4: Manipulation:
• • Manipulation Basic Concepts
  • Manipulation with Movelt!
  • MoveIt! Setup Assistant
  • MoveIt! Commander
  • Move Group interface
  • Week 4 Conclusion
• Week 5: Robot Vision:
• • Logical camera
  • Introduction TF
  • ROS package tf2_ros
  • Week 5 Conclusion
• Week 6: Final Project:
• • Behavior Design
  • Behavior design with FlexBE
  • Creating a behavior
  • Developing FlexBE States
  • Week 6 Conclusion

Installing supported OS - Ubuntu 18.04

Download from [official site] (https://releases.ubuntu.com/18.04/) Desktop image:

https://releases.ubuntu.com/18.04/ubuntu-18.04.5-desktop-amd64.iso

Then write to a free USB drive using balenaEtcher

You have to download, install, enjoy Ubuntu. There are a lot of manuals about installation process of Ubuntu on the Internet, so I will not focus on this.

Installation hrwros

You have to upgrade your system.

sudo apt update -y
sudo apt upgrade -y

# (Optional) You have to reboot system if kernel was updated.
sudo reboot

First step of working with ROS Melodic is installing ROS Melodic (if it is installed then skip this part):

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update -y
sudo apt install -y ros-melodic-desktop-full

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

sudo apt install -y python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install -y python-rosdep

sudo rosdep init
rosdep update

# You must reboot system because kernel has just updated.
sudo reboot

Second step is cloning catkin workspace.

CATKIN_WS=~/catkin_workspaces/hrwros_ws # If you want another name or path fell free to replace this environment variable

git clone https://github.com/ITMO-lab/hrwros.git ${CATKIN_WS}
cd ${CATKIN_WS}

# bash upgrade_weeks.sh (Optional) You can upgrade course sources

bash install.sh

catkin_make
echo "source ${CATKIN_WS}/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Known Issue with Gazebo

I know this solution sounds stupid, but it worked for me. I have a lot of manually compiled packages, so it could cause this problem.

catkin_make could not find gazebo headers

Solution:

sudo apt-get purge -y libgazebo9-dev
sudo apt-get install -y libgazebo9-dev
sudo apt install -y ros-melodic-desktop-full