KTH Formula Student - Exercises

Exercise 1 - Network

Enviroment: Ubuntu 18.04 + Python 2.7 + ROS Melodic Morenia

Function

• Create nodeA to publish specific message to topic /Jiang at rate of 20 Hz.
• Create nodeB to subscribe the message from topic /Jiang and published the divided message (by 0.15) to topic /kthfs/result.

Setup

• In the first Terminal: run roscore.
• In the second Terminal: run rosrun receiver subscriber.py
• In the third Terminal: run broadcast publisher.py

Test & Result

• Run rostopic echo /Jiang and rostopic echo /kthfs/result to check the messages.
• Run rqt_plot to visualize the messages.

• Run rqt_graph to visualize the nodes and topics.

Exercise 2 - Visualization

Enviroment: Ubuntu 18.04 + Python 2.7

Function

Using an object-oriented programming approach to generate plotting data, scales that visualise non-redundant information about the given function.

Outperforming features:

• "Real-time'/live updated data visualisation.
• Graphical user interface (GUI):
  • adjusting axis with slider (zoom functionality);
  • manually adjusting the axis based on current min max values;
  • adding a grid;
  • add start, stop and reset button to reinitialise data collection;
  • add an edit field to enter experiment name;
  • add save button to store data as csv with date, time and edit field content.
• Tikz implementation, to allow export as LaTeX code with minimal adjustments.

Setup

Run python kthfsdv_exc2.py in Terminal.

Test & Result

Start

Stop & Reset

Experiment Name & Save Data