Course material for TT102: Introduction to Python for Robotics
Instructor: Dr. Kshitij Tiwari
This repository contains a ROS 2 workspace named example_ws that runs inside a Docker container. It is configured with Ubuntu 20.04.6 LTS and ROS 2 Foxy. This workspace includes relevant packages in Python that were utilized in the course material by the instructor to allow the learners to replicate the results.
Before you start, make sure you have Docker installed on your system.
For this, you can go through the video lecture on setting up Docker & VS Code.
docker build -t example_ws .git clone https://github.com/yourusername/example_ws.git
./pkg_install.bash
./launch_gz.bash
This repository comes with the following ROS 2 Python packages included in the src/ folder.
| Package Name | Node Name | Node Description |
|---|---|---|
robot_spawn_pkg |
spawn_bot.py |
Python ROS2 node to spawn a custom 4 wheeled robot with camera and lidar at a preset initial pose |
robot_mover_pkg |
Python ROS2 node to move the robot currently spawned in Gazebo |
In order to test, debug and deploy you may want to additionally install the following ROS2 dependencies/utilities inside your *_ws/src
| Package Name | Install Command | Description |
|---|---|---|
ros_network_viz |
git clone https://github.com/ros2/ros_network_viz.git |
ROS2 utility to graphically show all nodes, topics and services and actions |
| Resource Name | Description |
|---|---|
basic_bocbot |
A Github repository with the office world and robot utilized in this lecture series |
| Introduction to ROS | A Lecture introducing ROS and ROS 2 to absolute beginners with intuitive examples |
| RQT Network | A GUI-based ROS2 utility to visualize all nodes, topics, services and actions in ROS2 |
This project is licensed under the MIT License.
Feel free to contribute to this project by submitting issues or pull requests.