AT90.9027: Selected Topic: Cloud Robotics July 11, 2012
Asian Institute of Technology Computer Science and Information Management
Handout: ROS Tutorial for Beginners Instructor: Kan Ouivirach (kan@ieee.org)
ROS Tutorial for Beginners
Instructions: This tutorial will guide you through the ROS environment and the basic command-line tools.
We will also write a simple ROS application and get it up and running. Before we start, please note that
this tutorial is intended for using with Ubuntu.
Presentation: http://goo.gl/WAVkn
Credits: Thanks to Jednipat for his valuable guidance.
Configure Your ROS Environment
If you do not have ROS installed on your machine yet, please complete the installation instructions first at
http://www.ros.org/wiki/ROS/Installation/Ubuntu.
Messing with the ROS base installation is not recommended unless you have some specific reasons. Since we
are still a ROS noob, it is better to create a new path (e.g., /home/YOUR USER NAME/ros workspace) and
add it to ROS PACKAGE PATH. Let’s follow the steps below.
1. Create a ROS workspace:
$
mkdir
∼
/ros workspace
2. It is convenient to set up the ROS workspace automatically every time we open a new terminal. Run
the following commands:
(a)
$
echo "export ROS PACKAGE PATH=
∼
/ros workspace:
$
ROS PACKAGE PATH" >>
∼
/.bashrc
(b)
$
echo "export ROS WORKSPACE=
∼
/ros workspace" >>
∼
/.bashrc
(c)
$
.
∼
/.bashrc
3. Just to confirm you have done it correctly. Run this command: echo
$
ROS PACKAGE PATH, and you
should see something similar to:
/home/YOUR USER NAME/ros workspace:/opt/ros/fuerte/share:/opt/ros/fuerte/stacks
If you are using the different version of ROS, please change the environment accordingly.
4. Now if you run: roscd, you will go to your workspace directly.
Understand ROS with Turtle
In this section, a turtle will help you to understand how ROS messaging mechanism works.
1. We get started with building a ROS package turtlesim. First we need to install system dependencies
required for turtlesim:
$
rosdep install turtlesim
If you see an error saying that rosdep has not been initialized. To fix this, run:
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