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--- tutorials:advanced:ros_tutorial [2016/07/09 05:01]
Guvalif
+++ tutorials:advanced:ros_tutorial [2021/04/01 13:52]
@@ Line 1: / Line 1: @@
-ROS Tutorial
-===============================================================================
-## Build Environment
-- Ubuntu
-- ROS indigo
-- python 2.7
-## Install ROS
-Please check [this page](http://wiki.ros.org/Documentation) and install ROS to your PC that is installed ubuntu.
-### Create a Workspace
-Please create a working directory to develop with ROS.
-After that, initialize the working directory environment as follows:
-```bash
-$ mkdir -p ~/catkin_ws/src
-$ cd ~/catkin_ws/src
-$ catkin_init_workspace
-$ cd ~/catkin_ws
-$ catkin_make
-```
-There is a setup script to initialize the environment.
-Please enter command below.
-```bash
-$ source ~/catkin_ws/devel/setup.bash
-```
-This process needs at first time whenever use ROS. Thus, I recommend to add script to **.bashrc** file.
-```bash
-#source /opt/ros/indigo/setup.bash
-source ~/catkin_ws/devel/setup.bash
-```
-### Create a Package
-Please change directory and create a package.
-```bash
-$ cd ~/catkin_ws/src
-```
-```bash
-$ catkin_create_pkg <YOUR_PACKAGE_NAME> rospy roscpp std_msgs
-```
-And then, run `catkin_make` again.
-```bash
-$ cd ~/catkin_ws
-$ catkin_make
-$ source ~/catkin_ws/devel/setup.bash
-```
-Now, your package can be available.
-Please check it with following command:
-```bash
-catkin_ws$ roscd <YOUR_PACKAGE_NAME>
-catkin_ws/src/<YOUR_PACKAGE_NAME>$
-```
-If you can do it, creating a package is succeeded.
-## Connect to PLEN2
-Since time of the shipment, PLEN2 has been access point mode (You could connect PLEN2 as WiFi).
-Also PLEN2 has been set different SSID and common password.
-```
-SSID: PLEN2dev<PLEN2_MAC_ADDRESS>
-Password: plenproject
-```
-## Setting Up ROS Environment
-After connect your PC to PLEN2, please check IP address of your PC with `ifconfig` command.
-Then, change ROS environment parameters as follows:
-```bash
-export ROS_IP=<PC_IP_ADDRESS>
-export ROS_HOSTNAME=<PC_IP_ADDRESS>
-export ROS_MASTER_URI=192.168.42.1:11311
-```
-Now, your PC can communicate other ROS setuped devices.
-## Blink LED of PLEN2's Eyes
-Let you blink LED of PLEN2's eyes.
-Please create following sample program.
-```python
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-import rospy
-from std_msgs.msg import String
-def talker():
-    rospy.init_node('PCNode', anonymous=True)
-    p = rospy.Publisher('PcToControl', String, queue_size=10)
-    r = rospy.Rate(1)
-    led_command = String()
-    led_command.data = 'gpio,w,off'
-    while ( not rospy.is_shutdown() ):
-        if ( 'on' in led_command.data ):
-            led_command.data = 'gpio,w,off'
-        elif ( 'off' in led_command.data ):
-            led_command.data = 'gpio,w,on'
-        rospy.loginfo('%s', led_command.data)
-        p.publish(led_command)
-        r.sleep()
-if __name__ == '__main__':
-    try:
-        talker()
-    except rospy.ROSInterruptException:
-        pass
-```
-This script blink PLEN2's eye at every seconds.
-PLEN2 subscribe topic which name is **PcToControl**.
-You need to run following command to be availabel the python script:
-```bash
-$ chmod 755 <CREATED_SCRIPT_NAME>
-$ python <CREATED_SCRIPT_NAME>
-```
-In addition, You could control PLEN2 with command below. [See also...](http://plen.jp/playground/wiki/specifications/protocol)
-```
-serial,w,<ANY_PROTOCOL_OF_PLEN2>
-```
-For example, if you would like to play the motion that is placed slot 4, send command below:
-```
-serial,w,$pm04
-```

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