ailab-ros-template

ailab ros template for beginner

Pre-requirement

• ROS Noetic & Ubuntu 20.04 LTS

Structure of Package

ailab-ros-template/
├── include/
│ ├── ai.hpp
│ └── lab.hpp
├── src/
│ ├── ai.cpp
│ └── lab.cpp
├── CMakeLists.txt
├── package.xml
└── README.md 

Install

# Create workspace 
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
# Git clone in src
git clone https://github.com/ailab-konkuk/ailab-ros-template.git
# Build and Source bash
cd ..
catkin_make
source devel/setup.bash

Execution

Using rosrun (3 terminal is needed)

roscore
rosrun ailab-ros-template ai
rosrun ailab-ros-template lab

Using roslaunch (in 1 terminal)

roslaunch ailab-ros-template ailab.launch

Code Description

rqt_graph

Description

• ai Node

In node [ai], publish topic [ai], type is [std_msgs::Uint16]. For each node iteration, the topic [ai] value increases by 1 starting from 0 and publishes that value.

• lab Node

In node [lab], publish topic [lab], type is [std_msgs::Uint16]. For each time subscribed topic [ai] (in callback), do basic arithmetic operations (plus, minus, multiply, divide) (Define in[lab.cpp]). With ros parameter in launch file [lab/calculation_method], [lab/calculation_number], do some calculation and publish [lab] topic.

Calculation : [ai.data] (+,-,*,/) [lab/calculation_number]

Code execution

• rosrun

• roslaunch