ROSExamples

ROS Examples for various basic concepts. All example files names are self explanatory except the exampleXX.

Setup:

sudo apt install ros-noetic-navigation
sudo apt install ros-noetic-robot-localization
sudo apt install libtbb-dev

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
cd src
git clone https://github.com/dringakn/ROSExamples.git
git clone https://github.com/dringakn/ufomap.git
git clone https://github.com/dringakn/mav_trajectory_generation

cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -y -r

AStar:

Dijkstra:

example_action_client:

example_action_server:

example_cmd_line_params:

example_custom_message_publisher:

example_custom_message_subscriber:

example_eigen_basics:

example_eigen_basics2:

example_eigen_transformations:

example_iterative_closest_points_algorithm:

example_kalman_filter_sensor_fusion:

example_kalman_filter_state_estimation:

example_keyboard_input:

example_laser_scan_fake:

example_least_square_accelerometer_error_parameters_estimation:

example_linear_least_square:

example_numerical_integration:

example_occupancy_grid_map:

example_occupancy_grid_map_sample:

example_occupancy_grid_map_service_request:

example_opencv_feature_detection:

example_opencv_optical_flow:

example_particle_filter:

example_path_planning_dijkstra:

example_path_planning_astar:

example_pcl2_point_cloud:

example_pid_control:

example_random_number_generator:

example_ransac_line_feature_estimate:

example_resampling_algorithm:

example_robot_navigation_command:

example_rviz_visulization_marker:

example_service_client:

example_service_server:

example_sinewave_generator:

example_structure_from_motion:

example_tf:

example_tf_map_world:

example_timer_callback:

example_turtlesim_messages_services:

example_vrep_demo_robot_controller:

example_vrep_two_wheels_balancing_robot:

example1:

Basic ROS C++ node structure.

example2:

Publish a Float32 msg on "topic": sends a uniform random number [0-99] every 100 milliseconds. modify find_package ( ... random_numbers ...) inside CMakeLists.txt of the package.

example3:

Publisehs two custom generated messages on "sensor" and "command" topics.

• sensmsg.msg: Header header float64 front float64 left float64 right
• cmdmsg.msg: Header header float64 vl float64 vr
• modify add_message_files(... cmdmsg.msg sensmsg.msg ...) inside CMakeLists.txt of the package.

example4:

Subscribe to the custom messages "sensor" and "command"

example5:

ROS parameter server example

example6:

Client for addition request from the server node (example7).

• addsrv.srv float64 a float64 b '--- float64 result
• modify add_service_files(... addsrv.srv ...) inside CMakeLists.txt of the package.

example7:

Custom server to respond addition request from client node (example6)

example8:

Action client

example9:

Action server

example10:

example11:

Captures an image from the webcam and publish it on a topic.

example12:

Eigen matrix example

example13:

PointCloud load (*.ply) example