ROS COMMAND LINE EXERCISES

NAMES: 

Start the Turtlebot Gazebo simulator by following the instructions
from the previous lab activity, then use the ROS command line to
accomplish each of the tasks described below.  For each question,
provide the answer along with the sequence of terminal commands that
you used to solve the problem.

1. Determine the horizontal field of view (in degrees) of the
simulated laser scanner published on the /scan topic.

ANSWER:

ROS COMMANDS:

2. Determine the rate that images are published to the
/camera/rgb/image_raw topic.

ANSWER:

ROS COMMANDS:

3. Use an appropriate invocation of rostopic to send messages that
will rotate the simulated Turtlebot in place (forever).  Select a
rotational velocity that will cause the robot to complete one complete
revolution every 10 seconds.  You will need to publish to:
/cmd_vel_mux/input/navi. (Make sure to exit any teleop commands
first.)

ROS COMMANDS:

4. Use an appropriate invocation of rostopic to send messages that
will cause the simulated Turtlebot to turn (forever) in a circle with
a radius of .177 meters.  The robot should complete one complete
circle every ten seconds. (The diameter of the Turtlebot is .354
meters: if this is working correctly the Turtlebot should appear to
pivot around its left-most point.)

ROS COMMANDS:

4. Exit the Gazebo simulator. Obtain and start a real Turtlebot by
following the instructions from the previous lab. Confirm that your
commands for spinning in place and turning in a circle work on the
real robot.

5. Use ROS terminal commands to light both LED1 and LED2 on the
Turtlebot.  LED1 should be Red and LED2 should be Green.

ROS COMMANDS: