ROS Tutorials

Work through the following ROS tutorials:

• Understanding ROS Nodes
• Understanding ROS Topics

You should skip any steps that ask you to install software. All of the necessary packages are already installed in the lab.

Applying Your Knowledge

• Connect and launch a Turtlebot as described in the previous lab.
• Use your new-found knowledge of nodes and topics to switch on the Turtlebot's LEDs from the command line. You will need publish an appropriate message to the appropriate topic using the rostopic command.
• Use an appropriate invocation of rostopic to tell your Turtlebot to rotate in place (forever) at a rate of 1.0 radians/second. You will need to publish to: /cmd_vel_mux/input/teleop.
• When you have finished these exercises, demonstrate you solutions to the instructor.

Services and Parameters (If time)

Work through the following ROS tutorial:

• Understanding ROS Services and Parameters