diff --git a/00_GettingStarted/docker/i2r/docker-compose.yml b/00_GettingStarted/docker/i2r/docker-compose.yml
index 8ecfc7a4dda4423190f2e72d562b5dbfa080ff96..5bae4ff67ea8df071aa393f19fac53c85a4a9c89 100644
--- a/00_GettingStarted/docker/i2r/docker-compose.yml
+++ b/00_GettingStarted/docker/i2r/docker-compose.yml
@@ -5,6 +5,8 @@ services:
- DISPLAY=gui:0.0
stdin_open: true
tty: true
+ volumes:
+ - home:/root
gui:
image: theasp/novnc:latest
@@ -12,3 +14,6 @@ services:
- "8080:8080"
environment:
- RUN_XTERM=no
+
+volumes:
+ home:
diff --git a/02_IntroductionToROS/README.md b/02_IntroductionToROS/README.md
index 8bda274171167ae890d0d07ea0f7069ad45fe57c..adec7fb63b3863b2b7d3847ca4f53f4f52e5aa0f 100644
--- a/02_IntroductionToROS/README.md
+++ b/02_IntroductionToROS/README.md
@@ -50,8 +50,19 @@
## First Steps with ROS
+Now we can **start** `Docker` to run the environment we use to work with `ROS`. The instructions how to start the group of `Docker` containers can be found in the [00_GettingStarted](/00_GettingStarted/README.md#docker) folder.
+
+During this course we work with two containers. A short description on their purpose in the table below.
+
+| Container Name | Intent |
+| :-----: | :----- |
+| ros | Container with *Ubuntu 18.04* as operating system and the `ROS` distribution *Melodic* installed. This container will host our `ROS` environment. Since docker is designed to containerise command-line interface applications, it is not optimised to facilitate graphical user interfaces (GUIs). As a workaround, we make use of the auxiliary container *gui*. |
+| gui | Auxiliary container to work with graphical user interfaces (GUI). This container displays GUI applications from the *ros* container inside a web application.|
+
+
### ROS Workspace
+
### ROS Master
### Nodes
@@ -66,7 +77,109 @@
### Catkin Workspace
+- ***catkin*** is a `ROS` build system to generate executables, libraries and interfaces
+- We will use the *Catkin Command Line Tools* within this course.
+- To build your workspace after implementation, e.g. of a node, use the *catkin build* command from within the catkin workspace
-## Building a Package
+ ```bash
+ cd ~/catkin_ws
+ ```
-## Implementing a Node
\ No newline at end of file
+ ```bash
+ catkin build
+ ```
+
+- Inspect the created folder and file structure in your workspace by using the *ls* command
+
+ ```bash
+ ls
+ ```
+
+- Overlay this worspace on top of your ROS environment and source your *bashrc* file
+
+ ```bash
+ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
+ ```
+ ```bash
+ source ~/.bashrc
+ ```
+
+## Building a Package
+Since the *catkin* workspace is now set up, we can build a package in it.
+
+- Change int the *src* folder of the catkin workspace
+
+ ```bash
+ cd ~/catkin_ws/src
+ ```
+- The tool to build a package is *catkin_create_pkg*
+ ```bash
+ catkin_create_pkg <package name> <dependencies>
+ ```
+- We name our first package *exercise_1* and use it to implement our first nodes to gain experience with the components building the `ROS` computation graph.
+ ```bash
+ catkin_create_pkg exercise_1 std_msgs rospy roscpp
+ ```
+- Since, we will use the `Python` programming language, it's common practice to store the python scripts into a seperate *scripts* folder and not into the *src* folder, which is mainly used for `C/C++` source code.
+ ```bash
+ cd ~/catkin_ws/src/exercise_1
+ ```
+ ```bash
+ mkdir scripts
+ ```
+- Following the creation of the package, change directory into the *catkin_ws* folder to build your package.
+ ```bash
+ cd ~/catkin_ws
+ ```
+ ```bash
+ catkin build
+ ```
+- After the build process make sure to source the configuration file for the terminal (*bashrc*) to ensure that the updated environment parameters are used.
+ ```bash
+ source ~/.bashrc
+ ```
+- Check if the just created package *exercise_1* is added to the *ROS_PACKAGE_PATH* **environment variable**
+ ```bash
+ echo $ROS_PACKAGE_PATH
+ ```
+
+
+## Implementing a Node
+Inside the package *exercise_1* we will now create a `node` that **publishes** `messages` to the *cmd_vel* `topic` which is used for example in the *turtlesim* `package`.
+
+- Create the empty *turtle_go.py* file in the just created *scripts* folder inside of the `package` *exercise_1*.
+ ```bash
+ touch ~/catkin_ws/src/exercise_1/scripts/turtle_go.py
+ ```
+- The implementation shown below.
+ ```python
+ #!/usr/bin/env python
+ import rospy
+ from geometry_msgs.msg import Twist
+
+ def turtle_go()
+ pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
+ rospy.init_node('turtle_go', anonymous=True)
+ rate = rospy.Rate(10) # 10Hz
+ twist = Twist()
+ twist.linear.x = 1.0
+ while not rospy.is_shutdown():
+ pub.publish(twist)
+ rate.sleep()
+
+ if __name__ == '__main__':
+ try:
+ turtle_go()
+ except rospy.ROSInterruptException:
+ pass
+ ```
+
+- Make sure to make the file executable by the following command giving it read, write and execute permissions.
+ ```bash
+ chmod 7 turtle_go.py
+ ```
+
+
+## Task
+
+Create a `package` *task_1* which contains a `node` named *turtle_go_circle.py* which **publishes** commands in such a way to the `topic` *cmd_vel* that the turtle moves in a circle.
\ No newline at end of file
diff --git a/02_IntroductionToROS/source_code/CMakeLists.txt b/02_IntroductionToROS/source_code/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f82286510cbd9875d3a0173bb5f0f87696e224b
--- /dev/null
+++ b/02_IntroductionToROS/source_code/CMakeLists.txt
@@ -0,0 +1,206 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(exercise_1)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES exercise_1
+# CATKIN_DEPENDS roscpp rospy std_msgs
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/exercise_1.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/exercise_1_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_exercise_1.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
\ No newline at end of file
diff --git a/02_IntroductionToROS/source_code/package.xml b/02_IntroductionToROS/source_code/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..79168d96096fe5c0a7e2b9063ec11d38b7069639
--- /dev/null
+++ b/02_IntroductionToROS/source_code/package.xml
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+ <name>exercise_1</name>
+ <version>0.0.0</version>
+ <description>The exercise_1 package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="root@todo.todo">root</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>TODO</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/exercise_1</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>rospy</build_depend>
+ <build_depend>std_msgs</build_depend>
+ <build_export_depend>roscpp</build_export_depend>
+ <build_export_depend>rospy</build_export_depend>
+ <build_export_depend>std_msgs</build_export_depend>
+ <exec_depend>roscpp</exec_depend>
+ <exec_depend>rospy</exec_depend>
+ <exec_depend>std_msgs</exec_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
\ No newline at end of file
diff --git a/02_IntroductionToROS/source_code/turtle_go.py b/02_IntroductionToROS/source_code/turtle_go.py
new file mode 100644
index 0000000000000000000000000000000000000000..fb9acc317e3d75e3dbbad76d3f14ecc6e4ced238
--- /dev/null
+++ b/02_IntroductionToROS/source_code/turtle_go.py
@@ -0,0 +1,19 @@
+#!/usr/bin/env python
+import rospy
+from geometry_msgs.msg import Twist
+
+def turtle_go():
+ pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
+ rospy.init_node('turtle_go', anonymous=True)
+ rate = rospy.Rate(10) # 10Hz
+ twist = Twist()
+ twist.linear.x = 1.0
+ while not rospy.is_shutdown():
+ pub.publish(twist)
+ rate.sleep()
+
+if __name__ == '__main__':
+ try:
+ turtle_go()
+ except rospy.ROSInterruptException:
+ pass
\ No newline at end of file