Commands.md

Make a new workspace:

Make a new folder: mkdir "name of folder" As an example: mkdir catkin_ws

Initialize folder as a workspace (stay in folder): catkin init

Make new source space folder in the Initialize folder: mkdir src

Run config command to confirm new source space folder: catkin config

Make a new ROS package

Navigate to source space folder in new workspace folder. As an example: cd catkin_ws/src

Make new package: catkin create pkg "name" --catkin-deps roscpp As an example: catkin create pkg hello_pkg --catkin-deps roscpp

Run turtlesim

Initialize new roscore: roscore

Run new turtlesim node: rosrun turtlesim turtlesim_node

Build and run code

Go to workspace folder and build: As an example: cd catkin_ws catkin build

find setup.bash (stay in folder) source devel/setup.bash

run cpp code: rosrun "pkg_name" "cpp_file_name" as an example: rosrun hello_pkg roundround

Startup turtlebot simulation

Startup Gazebo world simulator: roslaunch turtlebot_gazebo turtlebot_world.launch

Start virtuel sensors and navigation: roslaunch turtlebot_navigation gmapping_demo.launch

Startup turtlebot real robot:

startup turtlebot machine: roslaunch turtlebot_bringup minimal.launch

Commands for both simulation and real life:

Run own turtlesim code: rosrun --- --- /turtle1/cmd_vel:=/cmd_vel_mux/input/teleop As an example: rosrun my_first_pkg roundround /turtle1/cmd_vel:=/cmd_vel_mux/input/teleop

Control turtlebot with keyboard: roslaunch turtlebot_teleop keyboard_teleop.launch

Start RVIZ: rviz

Run launch file:

roslaunch "package name" "launchfile".launch As an example turtlebot_gazebo_gmapping.launch will be launched in package busroute:

roslaunch busroute turtlebot_gazebo_gmapping.launch

Edit Bash file to run ROS on MASTER_PC via network as standard : REMEMBER! switch VMWare network adapter from NAT to bridged, when communicating with ROS on MASTER_PC via network and back again when running ROS on your own pc.

Write in terminal: gedit .bashrc

write these lines in the bottom of the bash file, remember to edit "MASTER_IP" and "YOUR_PC_IP" to the apropiate IP's: export ROS_MASTER_URI=http://"MASTER_IP":11311/ export ROS_HOSTNAME="YOUR_PC_IP" export ROS_IP="YOUR_PC_IP"

Save bash file and close it, then write in terminal: source ~/.bashrc

Edit Bash file to run on your own pc again as standard:

Write in terminal: gedit .bashrc

Comment out the these lines you wrote earlier in the bottom of the bash file with #: #export ROS_MASTER_URI=http://"MASTER_IP":11311/ #export ROS_HOSTNAME="YOUR_PC_IP" #export ROS_IP="YOUR_PC_IP"

Now write these lines in the bottom of the bash file: export ROS_MASTER_URI=http://localhost:11311/ export ROS_HOSTNAME=localhost

Save bash file and close it, then write in terminal: source ~/.bashrc