Robot Operating System

ROS version Noetic

Workspace

mkdir -p ~/test_ws/src

cd ~/test_ws/src

catkin_init_workspace

cd ~/test_ws

catkin_make

source devel/setup.bash

roscd - check ws

Package

cd ~/test_ws/src

catkin_create_pkg mobile_robot std_msgs rospy urdf xacro rviz gazebo tf2 geometry_msgs joint_state_publisher_gui

cd ~/test_ws

catkin_make –only-pkg-with-deps mobile_robot

source devel/setup.bush

roscd mobile_robot

URDF

mkdir urdf

roscd mobile_robot

touch rover.urdf

cd ~/test_ws

code .

RViz And Gazebo

cd ~/catkin_ws/src/mobile_robot

mkdir launch

cd launch

touch rviz.launch

touch gazebo.launch

roslaunch mobile_robot rviz.launch

roslaunch mobile_robot gazebo.launch

Gazebo Worlds

echo $GAZEBO_MODEL_PATH

export GAZEBO_MODEL_PATH=~/catkin_ws/src/mobile_robot/models:$GAZEBO_MODEL_PATH

Camera Sensor Simulated

Keyboard Teleoperations

sudo apt update

sudo apt install ros-noetic-teleop-twist-keyboard

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Topics And Nodes Works

rqt / Plugins / Message Publisher

rqt / Plugins / Robot Tools / Robot Steering

rosnode list

rostopic list

rostopic pub /cmd_vel

rostopic echo /cmd_vel

rostopic echo /odom

Python Scripts

cd ~/catkin_ws/src/mobile_robot/src

touch test_publisher.py

chmod +x test_publisher.py

rosrun mobile_robot test_publisher.py

Visual Studio Code

Ctrl + Shift + P

run Extension VS Code

ROS Preview URDF

ROS Microsoft Pre-release

URDF smilerobotics urdf/xacro snippets

ROS Snippets Liews Wuttipat

Ctrl + ], [ - Indent

Ctrl + / - comment line

Introspection

printenv | grep ROS

roscd

Linux Console

Disable Auto Logout Screen

xfce4-screensaver-preferences

Colors In Console

Consoles tty1, tty2, …, tty6 Ctrl + F1, Ctrl + F2, …,

setterm --background white --foreground black --store

Ctrl + L - clear console.

Colors In Terminal Emulator Of Xubuntu

Images for GitFlic

Hyperlinks

1. ROS Noetic with Ubuntu 20.04 Focal virtual machine image (.ova file, 5.3G) from Copter Express, qudrocopter Clover simulation.

2. youtube.com — ROS Wiki Demonstrations Muhammad Luqman 13 videos - 24,361 views - Last updated on Apr 26, 2023

3. wikipedia.org — List of moments of inertia

4. youtube.com - How to create terrain for Gazebo simulation with Blender 2.9 — Kevin DeMarco 132 subscribers 5,100 views Dec 7, 2021

5. youtube.com - 6 Adding simulated camera to our Simple Robot using gazebo plugins —
   ِAbdalrahman M. Amer 599 subscribers 7,858 views Feb 6, 2019

6. Gazebo : Tutorial : Gazebo plugins in ROS - Camera