MRC/Tutorials

From Control Systems Technology Group

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In here, one can find the programs that are going to be used for this course and the proper way of operating them. If one encounters a problem/error, this is typically resolved in the tutorial. If not, then one can also consult the FAQ.

  1. Introduction
  2. Installing Ubuntu
  3. Customizing Ubuntu
  4. Do the following C++ tutorials:
    1. cplusplus.com: up to and including Name visibility
    2. MIT's Introduction to C++: up to and including Classes
    • Remarks:
      • For now, use a simple editor such as gedit (the ubuntu version of Notepad). We will install a more advanced editor (IDE - Integrated Development Environment) later.
      • Once you have saved your C++ program (e.g. as example.cpp), it can be compiled from a terminal using:
        g++ example.cpp -o example
        and run with
        ./example
  5. Installing the EMC environment
  6. Setting up your project
  7. Setting up an IDE
  8. Setting up the PICO simulator
  9. Towards an autonomous robot
  10. Obtaining laser and odometry data
  11. Sharing your project through git
  12. Testing on the real robot and recording data
  13. Full Example
  14. Additional OpenCV


  1. .. More tutorials coming up ..!


  1. Using Subversion to share and manage your project
  2. Building a ROS package
  3. On the ROS tutorials page, do tutorials 5 (Understanding ROS Nodes) to 17 (Recording and playing back data), but keep this in mind:
    • If you can choose between rosbuild and catkin, select rosbuild
    • If you can choose between C++ and Python, select C++
    • Whenever the tutorial refers to the beginners_tutorial ROS package, use the name of the package you created above instead (that is, beginners_tutorial_<YOUR_NAME>). Of course, you can use TAB completion when possible.
    • The path to your ROS package differs from the path in the ROS tutorials
  4. Setting up an IDE
  5. Setting up the PICO simulator
  1. Creating your first PICO-related ROS package

Learn about ROS concepts on the ROS tutorial page. Start here and continue up until the tutorial Using RosEd

  1. Understanding ROS nodes
  2. Understanding ROS topics
  3. Understanding ROS services and parameters
  4. Using rqt_console and roslaunch
  5. Using rosed to edit files in ROS
  6. Creating a ROS msg and srv
  7. Writing a simple publisher and subscriber
  8. Examining the simple publisher and subscriber
  9. Writing a simple service and client
  10. Examining the simple service and client
  11. Recording and playing back data

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