Creating Packages and Subversion

• Log into the Turtlebot and bring up a wireless connection. You will need to change the Authentication setting to "Protected EAP (PEAP)". When the box appears complaining that "No Certificate Authority certificate chosen", click "Ignore".
• Once the wireless connection is established, double click the launcher labeled "Init Ros Workspace". You should enter your eid at the "Enter user ID:" prompt. Your repository name is a three letter acronym made up of the first letters of the of the last names of all group members in alphabetical order. You probably shouldn't let subversion store your password.
• The previous step checked your repository out to ~/cs480_ws/. If you cd into that directory, you will find that there is nothing there. If you type

  svn status
  

  In that directory, you should get no response. That's good! That tells you that the contents of the directory (empty) match the repository version (empty).

• Work through the steps for the Creating a ROS Package and Building a ROS Package tutorials.

  Don't create your package in ~/fuerte_workspace/sandbox. Put it in ~/cs480_ws/ instead.

• Once you have finished these tutorials, I suggest that you cd into your package directory and type:

  make clean
  

  This will clear out temporary files that were created during the build process.
• At this point, running svn status in ~/cs480_ws/ should look like the following:

  $ svn status
  ?       beginner_tutorials
  

  This tells you that the beginner_tutorials folder is not yet in the repository. You can add it to the repository by running the following commands from ~/cs480_ws/:

  $ svn add beginner_tutorials
  $ svn commit .
  

• After the commit has finished, log out of the netbook. Then let another group member log in and confirm that they can check out the code.

Creating Python Nodes

Complete tutorials 12 and 13. Don't forget to commit your code to the repository after you finish working with it.

Starting PA1

• Create a new package named approach. This package should depend on: rospy, std_msgs, sensor_msgs, and rqt_plot.
• Create a node in this packages that moves the Turtlebot slowly forward until the bumper makes contact with an obstacle. Your node should subscribe to the topic /mobile_base/events/bumper and should publish to the topic /mobile_base/commands/velocity.
• Don't forget to commit your code to the repository before logging out.