... | ... | @@ -6,7 +6,7 @@ This lab aims to introduce the basic concepts of ROS2 and its main tools. As par |
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Introduction
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_The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms_. More information can be found on the [official website](https://www.ros.org/). It is commonly used by many robots in research and industry. ROS can transparently interact with real hardware or with a simulator.
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_The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behaviors across a wide variety of robotic platforms_. More information can be found on the [official website](https://www.ros.org/). It is commonly used by many robots in research and industry. ROS can transparently interact with real hardware or with a simulator.
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Running
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... | ... | @@ -32,7 +32,7 @@ There are libraries for more programming languages, but they are not as well sup |
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ROS programs mainly communicate through the use of topics.
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ROS topics follow a multi-publishers/multi-subscribers pattern: ROS programs subscribe to individual topics and they will then receive the messages that are published by other programs on the topic.
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Topics are associated to a specific type of a ROS message (examples of standard messages can be found at [std_msgs](https://index.ros.org/p/std_msgs/), it is possible to create custom messages to suit your needs).
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Topics are associated with a specific type of a ROS message (examples of standard messages can be found at [std_msgs](https://index.ros.org/p/std_msgs/), it is possible to create custom messages to suit your needs).
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In addition to topics, ROS programs can offer _service calls_, which is the ROS implementation of Remote Procedure Calls (RPC).
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_TurtleBot 4_ is the next-generation of the world’s most popular open-source robotics platform for education and research, offering better computing power, better sensors, and a world-class user experience at an affordable price point.
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For this course, the _Turtlebot 4_ is simulated, using a 2D simulator called _simple simulator_, which can run well in thinlinc or the lab computers. The official project use a 3D simulator, [https://gazebosim.org/](Gazebo), which works poorly on the University computers.
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For this course, the _Turtlebot 4_ is simulated, using a 2D simulator called _simple simulator_, which can run well in thinlinc or the lab computers. The official project uses a 3D simulator, [https://gazebosim.org/](Gazebo), which works poorly on the University computers.
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Setup the environment
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