Robotics lab (221LIA001) : Lab work

Lab 1 : 14/08/26

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

Lab 2 : 21/08/26

• Ubuntu 20.04 LTS installation
  • Ubuntu desktop install
• Ubuntu/Linux basics
  • Basic commands -Ubuntu command line tutorial
  • Linux File System/Structure Explained -Linux File System/Structure
• ROS basics
  • ROS installation basics

Tasks expected to be completed before Lab 2

• Install ROS on Windows 11 using Windows Subsystem for Linux 2 (WSL2)
  • Installing Ubuntu 20.04 LTS on Windows using WSL2
  • Installing ROS Noetic on Ubuntu
• Setting up ROS environment on your PC -Setting up ROS environment on your PC
• Navigating the ROS Filesystem -Navigating the ROS Filesystem

  Python Basics Refresher

• Python basics -PyFlo - A Free, Interactive Guide to Python Programming

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

  • Understanding ROS Topics
    -ROS topics -video demo

Task

• Create a new package named lab2_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

### Home Assignment 2 - Publisher Subscriber

• Understanding ROS Nodes (Review)
  -ROS nodes
  Learn about ROS nodes, topics, ROS commands - roscore, rosnode, rosrun - Understanding ROS Topics
  -ROS topics
  -video demo
• Simple Publisher and Subscriber
  -Simple Publisher and Subscriber
  -Examining the Simple Publisher and Subscriber
  -A ROS publisher node - line by line commented
  -A ROS subsriber node line by line commented

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)