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IMSE-7139 Cyber Physical Systems: Prof. Ning Xi

Here are the steps to record and play back a ROS bag file: 1. Launch turtlesim and turtle_teleop_key nodes as before. 2. In a new terminal, run "rosbag record -a" to record all topics. 3. Control the turtle using keyboard arrows. 4. Press Ctrl-C to stop recording when finished. 5. The bag file will be saved in the current directory. 6. To play it back, run "rosbag play bag_file_name.bag" 7. The turtle movement should replay as recorded in the bag file. This allows recording ROS messages for later playback or analysis. The bag file contains

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Haonan WANG
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103 views20 pages

IMSE-7139 Cyber Physical Systems: Prof. Ning Xi

Here are the steps to record and play back a ROS bag file: 1. Launch turtlesim and turtle_teleop_key nodes as before. 2. In a new terminal, run "rosbag record -a" to record all topics. 3. Control the turtle using keyboard arrows. 4. Press Ctrl-C to stop recording when finished. 5. The bag file will be saved in the current directory. 6. To play it back, run "rosbag play bag_file_name.bag" 7. The turtle movement should replay as recorded in the bag file. This allows recording ROS messages for later playback or analysis. The bag file contains

Uploaded by

Haonan WANG
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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IMSE-7139

Cyber Physical Systems


Lab 0

Prof. Ning Xi

1
Content

 Final Grade
 Lab Report Format
 Vmware Installation
 Testing

2
Final Grade

3
Lab Report Format

1. Members Individual Responsibilities


i. Member 1:
ii. Member 2:
iii. Member 3:
iv. Member 4:
2. Group Report
i. Lab set up
ii. Tests and data collection
iii. Analysis
3. Individual report
i. Individual activity
ii. Discussion and answer questions
4. Report submission: Individuality
i. Group report 4

ii. Individual report


Lab 0

Circular motion
Lab 0

Reciprocating motion
Lab 0

Build map
Lab 0

Navigation
Computer Requirement

 OS Requirements
 Windows 10
 Windows 8.1
 Windows 7
 Hardware requirements:
 Standard x86-PCs with 64-bit Intel and AMD processors.
 22.0 GB of available disk space for the application.
 1.3GHz speed or faster
 2GB RAM minimum/ 4GB RAM and above recommended

9
Download Installation File

 Download the files with your HKU account:


https://drive.google.com/drive/folders/15XzI
ErBaUoOzZFYHeVQiEDfehyaT6FP_?usp=sharing

10
Checking the Virtualization Option

 CTRL + ALT + DEL


 Open Task Manager
 If “Virtualization Option” is disable, You
need to turn it on in BIOS.
 Google “Bios virtualization technology”

11
Install Virtual Machine

 Double click “VMware-workstation-full-16.1.2-17966106.exe” to install


 Double-click “VMware Workstation Pro” on the desktop

12
Steps

 Click “open a virtual machine”


 Open “turtlebot2Env.vmx”
 Double click “turtlebot”
 Double click “resume this virtule machine”

User name: xuan


Password: 1234

13
Network Setting For Your Own Laptop

2 3

4
Network Setting For Your Own Laptop

6
8
What is ROS?

Why ROS? Efficient communication.


What can ROS do? Subscribe and publish information from different nodes.
Our environment:
Ubuntu16.04, ROS kinetic
18
Lab: Start your first ROS project!
Change your IP:
sudo gedit ~/.bashrc
#export ROS_MASTER_URI=http://192.168.9.128:11311
#export ROS_HOSTNAME=192.168.1.102
source ~/.bashrc
 Open a new terminal,
 Run “roscore”
 Open a new terminal, (Ctrl&Alt&T)
 Run “rosrun turtlesim turtlesim_node”
 Open a new terminal,
 Run “rosrun turtlesim turtle_teleop_key”
 Select the control window and press the arrow keys,you
can see the turtle moving:

19
Lab: Auxiliary tools
1. View topics: rostopic list

2. View topic information: rostopic info “topic name”


3. Monitor topic: rostopic echo “topic name”
For example check the speed of the turtle,
open a new terminal,“rostopic echo /turtle1/cmd_vel”
Use the keyboard to control turtle, what happened?
4. Pub a topic to control the turtle:
rostopic pub /turtle1/cmd_vel geometry_msgs/Twist "linear:
x: 1.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0"
Lab: How ROS communicate
Lab: Record rosbag
It can record a bag, republish the messages from one or more bags, summarize the contents of a bag,
check a bag's message definitions, filter a bag's messages based on a Python expression, compress and
decompress a bag and rebuild a bag's index.

1. Continuate cotroling you turtle, run “rosbag record –a”


2. Press “ctrl+c” to save your bag file
3. Run “rosbag play your_bag_name.bag”

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