Introduction

The goals of this lab are to gain experience creating ROS projects, working with subversion, and creating ROS launch files.

Checking Out Your Repository

• Log into one of the Turtlebot netbooks.
• Double click the launcher labeled "Init Ros Workspace". You should enter your eid at the "Enter user ID:" prompt. Your repository name is an 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 ~/cs354_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).

Creating a Workspace and Package

• Follow the instructions in the Creating a Workspace for Catkin tutorial to create a workspace in the cs354_ws directory (not catkin_ws as described in the tutorial.)
• Follow the instructions in the Creating a ROS Package tutorial to create a new package in your workspace. Your package should be named "labs". It should depend on geometry_msgs, kobuki_msgs, rospy, and std_msgs.
• Get a copy of the bumper.py file that you created in the previous lab. Copy the file into a scripts directory in your newly created package. At this point, you should have a functional package. Test your setup by connecting a Turtlebot and typing:

  rosrun labs bumper.py
  

  in a terminal window.

Checking In Your Work

• At this point checking the subversion status of your workspace should look something like the following:

  robot@turtlebot-02 ~/cs354_ws $ svn status
  ?       src
  ?       build
  ?       devel
  

  This indicates that the three directories listed aren't currently under version control. You can add everything in the current folder to your repository like this:

  robot@turtlebot-02 ~/cs354_ws $ svn add *
  A         build
  A         build/CATKIN_IGNORE
  A         build/Makefile
  A         build/test_results
  A         build/labs
  A         build/labs/Makefile
  ...
  

  You have added the files locally, but you haven't committed your changes to the subversion server. If you logged out now, your work would be lost. You can commit your work by running the following command in your workspace directory.

  svn commit . -m "Initial 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 and execute the code.

Launch Files

• Create a directory in your labs project named "launch". Inside that directory, create a launch file named "bumper.launch". Your launch file should perform the following steps:
  • Execute minimal.launch to bring up the Turtlebot.
  • Start your bumper node.
• Test your launch file by typing:

  roslaunch labs bumper.launch
  

  in a terminal.

Submitting

Submit by checking your project into your group subversion repository with the commit message "LAUNCH LAB FINAL SUBMISSION".