EXPERIMENT-01

Aim : Study of Fundamental components of Robot Operating System..

Theory: Robotics is an interdisciplinary field that merges principles from

mechanical engineering, electronics, computer science, artificial intelligence, and
other areas of engineering and science. It focuses on the design, construction,
operation, and deployment of robots— automated systems designed to perform
tasks with precision, consistency, and adaptability.

Robots are engineered to carry out complex actions either autonomously or

semiautonomously, often in environments that are challenging, hazardous, or
unsuitable for human operation. As technology advances, robotics has become a
vital area of study, significantly impacting various industries and driving
innovation across multiple sectors.

Types of Robots:

Robots can be classified based on their level of autonomy and control

mechanisms. The three main categories are:

 Manual Robots: These robots are directly operated by humans, typically

through remote controls or tethered interfaces. They depend entirely on
human input for movement and decision-making.

Example: Remotely operated vehicles (ROVs) used for underwater

exploration and deepsea research.

 Hybrid Robots: Hybrid robots blend both manual and autonomous

capabilities, allowing them to switch between human control and
autonomous operation as required. This flexibility makes them suitable for
diverse applications.
 Example: Drones with autopilot features that can be manually controlled
by a pilot or set to autonomously ------------------------follow a predefined
flight path.

 Autonomous Robots: Autonomous robots can perform tasks without human

intervention. They are equipped with sensors, processors, and AI algorithms
to perceive their surroundings, make decisions, and navigate independently.

Example: Self-driving cars, which utilize a combination of cameras,

LiDAR, GPS, and AI to navigate roads safely.

Applications of Robotics:

The applications of robotics span across numerous fields, and they continue to
evolve with technological advancements. Some notable areas include:

 Healthcare: Robotics has transformed the healthcare sector with

innovations like robotassisted surgeries, autonomous medical transport
robots, and robotic rehabilitation systems. These technologies enhance
patient outcomes by allowing precise surgical procedures, improved
diagnostic capabilities, and faster recovery times.

Autonomous robots in hospitals are now being used for delivering

medical supplies, sterilization, and patientcare, thus reducing healthcare worker
fatigue and preventing infections.

 Disaster Response and Search & Rescue: Robotics plays a crucial role in
search and rescue missions, especially in disaster-prone areas like
earthquake zones or flooded regions. Drones and ground robots equipped
with sensors and cameras can navigate through dangerous terrain to locate
survivors, deliver supplies, and assess damage without risking human lives.
 These robots often integrate AI and computer vision technologies to
operate autonomously and provide real-time data to rescue teams.

 Education and Research: Robotics is being increasingly integrated into

educational tools and research settings. Educational robots are used to teach
students programming, engineering, and problem-solving skills in an
interactive way.

In research, robots enable the exploration of environments that are

hazardous or inaccessible to humans, such as deep-sea exploration or space
missions. They are used for tasks that require extreme precision and - autonomy,
expanding the boundaries of scientific discovery.

Conclusion:

Robotics is a rapidly advancing field that is revolutionising various industries

through automation, precision, and adaptability. As technology continues to
evolve, robots are becoming more capable, autonomous, and integrated into our
daily lives. Understanding the principles, categories, and applications of robotics
is essential for anyone looking to contribute to this dynamic and impactful field.

EXPERIMENT : 2

Aim: Installation of virtual Machine and supported Linux operating system (i.e.
Ubuntu 22.04.01)
Description: Oracle VirtualBox is a powerful, open-source virtualization software
that allows you to run multiple operating systems smultaneously on a single
Windows, macOS, Linux, or Solaris machine. Developed by Oracle, VirtualBox
supports a wide range of guest operating systems, including Windows, Linux,
macOS (with limitations), and others. It provides a flexible, user-friendly interface,
making it easier for users to create and manage virtual machines.

Procedure: Steps of installation give below.

Step 1: Download VirtualBox and click on the New button.

St
ep 2: Open VirtualBox and click on the New button.
Step 3: Give a Name to your Virtual Machine and select the Location for it to
install.

Step 4: Assign RAM Size to your Virtual Machine.

Step 5: Create a Virtual Hard Disk for the machine to store files.
Step 6: Select the type of Hard disk. Using VDI type is recommended.

Step 7: Either of the Physical Storage types can be selected. Using a Dynamically
Allocated Disk is by default recommended.
Step 8: Select Disk Size and provide the Destination Folder to install.

Step 9: After the Disk creation is done, boot the Virtual Machine and begin
installing Ubuntu.
Step 10: If the installation disk is not automatically detected. Browse the file
location and select the ISO file for Ubuntu.

Step 11: Proceed with the installation file and wait for further options.
Step 12: Click on the Install Ubuntu option, this might look different for other
Ubuntu versions.

Step 13: Select Keyboard Layout, if the defaults are compatible, just click on the
Continue button and proceed.
Step 14: Select Installation Type. By default, it is set to Normal
Installation, which is recommended, but it can also be changed to Minimal
Installation if there is no need for all Ubuntu features.

Step 15: Click on the Install Now button and carry on with the installation. Do not
get worried about the Erase disk option, it will only be effective inside the virtual
machine, and other system files outside the VirtualBox remain intact.
Step 16: Click on the Continue button, and proceed with writing changes on the
disk.

Step 17: Select your Location to set the Time Zone.

Step 18: Choose a Name for your computer and set a Password to secure login
info.

.
Steps to Make Full Screen of Ubuntu OS on VirtualBox

EXPERIMENT-03

Aim : Familiarization of Linux commands for terminal operation in a robot

environment.

 Shell job control command

There are several commands that are used to control processes. They are:

• ps - list the processes running on the system.

• kill - send a signal to one or more processes (usually to "kill" a process).
• jobs - an alternate way of listing your own processes.
• bg - put a process in the background.
• fg - put a process in the foreground.
 Basic file operation command

There are several commands that are used to control file operation. They are:

• Mkdir - to create a directory.

• Rmdir - to remove a directory.
• Cp - to make a copy of a file.
• Mv - to move a file to another location or rename it.
• Rm - to delete a file.  Touch - create an empty file.

Directory operation command

There are several commands that are used in directory operation. They are:

• pwd - It displays the current working location or directory of the user.

• ls - The ls command is used to show the list of a folder.
• cd - The cd command stands for (change directory).
• Mkdir - to create a directory.
• Rmdir - to remove a directory.
 File view command
• cat - for viewing entire file contents.
• more - for viewing and navigation in large file contents.
• head - to view the Specific Portions of the file contents.
• tail - to view the end part of the Contents of File.
 File properties command

• ls Command - The ls command with different options can provide a

range of file properties.
• stat Command - The stat command provides comprehensive
information about a file.  file Command - The file command is
used to determine the file type.

 File location command

• find Command -The find command searches for files and directories in a
directory hierarchy. It is highly versatile and allows for complex queries.
• which Command - The which command shows the location of executables in
your PATH.
 File text manipulation command

• cat (Concatenate and Display Files) - The cat command reads files
sequentially and outputs their contents to the terminal.
• grep (Search Text Using Patterns) - The grep command searches for lines
that match a given pattern.

 Disk and file checking command

• df (Disk Free) - Displays information about disk space usage for filesystems.
• du (Disk Usage) - Shows disk space used by files and directories.
• fdisk (Partition Table Manipulator) - Provides information and allows
manipulation of disk partitions.
• lsblk (List Block Devices) - Lists information about all available block
devices.
• blkid (Block ID) - Prints information about block devices, including UUID
and filesystem type.
 User management command

• useradd (Add a User) - Creates a new user account.

• usermod (Modify a User Account) - Modifies an existing user account.
• userdel (Delete a User) - Removes a user account.
• passwd (Change User Password) - Changes the password of a user.
• groupadd (Add a Group) - Creates a new group.
• gpasswd (Administer /etc/group and /etc/gpasswd) - Administers group
membership.
• id (Print User and Group Information) - Displays user ID (UID) and group
ID (GID) information.
• last (Show Last Logins) - Shows a list of last logins.

 Network connection command

• ip (IP Command) - The ip command is a powerful tool for managing

network interfaces, routes, and addresses.
• ping - Used to check the connectivity between the local machine and another
machine or server
• netstat - netstat shows active network connections, listening ports, routing
tables, etc.  traceroute - Displays the route packets take to a network
destination
• Nslookup - Used for DNS queries.
• curl / wget - Used for transferring data to/from a server via different
protocols (HTTP, FTP, etc.)  nmap - Network scanning tool to discover
hosts and services.
 EXPERIMENT-04

Aim : Installation of ROS distribution (e. g . ROS2- humble distribution).

The Robot Operating System (ROS) is a set of software libraries and tools for
building robot applications. From drivers and state-of-the-art algorithms to
powerful developer tools, ROS has the open source tools you need for your next
robotics project.

Since ROS was started in 2007, a lot has changed in the robotics and ROS
community. The goal of the ROS 2 project is to adapt to these changes, leveraging
what is great about ROS 1 and improving what isn’t.

Are you looking for documentation for a particular ROS package like
MoveIt, image_proc, or octomap? Please see ROS Index or check out this index
of per-package documentation.

This site contains the documentation for ROS 2. If you are looking for ROS 1
documentation, check out the ROS wiki.

If you use ROS 2 in your work, please see Citations to cite ROS 2.

Set locale

Make sure you have a locale which supports UTF-8. If you are in a minimal
environment (such as a docker container), the locale may be something minimal
like POSIX. We test with the following settings. However, it should be fine if
you’re using a different UTF-8 supported locale.
Setup Sources

You will need to add the ROS 2 apt repository to your system.

First ensure that the Ubuntu Universe repository is enabled.

Now add the ROS 2 GPG key with apt.

Install ROS 2 packages

Update your apt repository caches after setting up the repositories.

Desktop Install (Recommended): ROS, RViz, demos, tutorials.
Now add the ROS 2 GPG key with apt.
Try some examples

Talker-listener

If you installed ros-humble-desktop above you can try some examples.

In one terminal, source the setup file and then run a C++ talker:

EXPERIMENT-04

Aim : Implementation ROS workspace and Package creation.