Joaquim Ignatious Monteiro

4 minute read

Lab 1 : 14/08/26

  • Operating Systems - Introduction
  • ROS - Introduction
  • TurtleBot3 demo

Lab 2 : 21/08/26

Tasks expected to be completed before Lab 2

Home Assignment 1 - ROS Nodes

  • Completing ROS installation and remaining tasks from lab 1

  • ROS basics

  • Navigating the ROS Filesystem
    -Navigating the ROS Filesystem
  • CMake basics [Lecture]

  • Creating a ROS workspace

  • Understanding ROS Nodes

    -ROS nodes - Learn about ROS nodes, topics, ROS commands - roscore, rosnode, rosrun

Task

### Home Assignment 2 - Publisher Subscriber

Task
  • Create a new package named lab3_sub_pub in the src folder of your catkin_ws. The package dependencies are std_msgs and rospy
    -Video demo - Creating ROS package using catkin_create_pkg command
  • Create a simple publisher and Subscriber
  • Create three publishers within a ROS node
  • Create two ROS nodes that subscribes to the topics published (ROS node1 : subcribes to topic 1 & 3, ROS node 2 : subscribes to topic2)

Lab 3 : 25/09/26 - Service-Client

Lab 4 : 09/10/26 - Turtlesim

Lab Task
  • Create a new package lab4_turtlesim
  • Launch turtlesim turtle
    • List all the running topics
    • Using suitable commands find more info about the topic related to turtlesim turtle (cmd_vel, color_sensor, pose)
    • Using suitable commands find more info about the ROS message(s) of the above topics (geometry_msgs/Twist, turtlesim/Color,turtlesim/Pose)
    • Using the above messages control the turtlesim turtle
    • Write a single python script that makes the turtle do the following actions in sequence:
      • Move x units towards top (ensure the turtle does not hit the top wall), make a 90 degree right turn, draw a circle of radius y units, move z units to the right (ensure the turtle does not hit the right wall), move w units towards down, make a 45 degree turn and move to the top by p units and then stop.

Lab 5 : 24/10/26 - Work on assignments 2 & 3

Lab 6 : 30/10/26 - URDF