Programming for Robotics

Introduction to ROS
Course 1

Edo Jelavic, Tom Lankhorst, Prof. Dr. Marco Hutter

Edo Jelavic | 22.02.2021 | 1

Overview
▪ Course 1 Edo Jelavic ▪ Course 3 Edo Jelavic ▪ Course 5 Harmish & Max
▪ ROS architecture & philosophy ▪ TF Transformation System ▪ Case study ANYbotics AG

▪ ROS master, nodes, and topics ▪ rqt User Interface

▪ Console commands ▪ Robot models (URDF)
▪ Catkin workspace and build system ▪ Simulation descriptions (SDF)
▪ Launch-files
▪ Gazebo simulator

▪ Course 2 ▪ Course 4
▪ ROS package structure Tom Lankhorst ▪ ROS services Tom Lankhorst
▪ Integration and programming with Eclipse ▪ ROS actions (actionlib)
▪ ROS C++ client library (roscpp) ▪ ROS time
▪ ROS subscribers and publishers ▪ ROS bags
▪ ROS parameter server ▪ Intro to ROS2
▪ RViz visualization

Edo Jelavic | 22.02.2021 | 2

Course Structure
Course 1 Course 2 Course 3 Course 4 Course 5
Deadline for Ex. 1. Deadline for Ex. 2. Deadline for Ex. 3.
Lecture 1 Multiple Choice Test
Lecture 2 Lecture 3
Lecture 4 Deadline for Ex. 4.
Exercise 1 Intro.
Exercise 2 Intro. Exercise 3 Intro.
Case Study
Exercise 4 Intro.
Exercise 5 Intro.

Exercise 1 Exercise 2 Exercise 3

Exercise 4 Exercise 5

Deadline for Ex. 5.

Edo Jelavic | 22.02.2021 | 3

Course Logistics

▪ We have three sessions

▪ Grading (08:00 – 08:45) (08:00-09:15)
▪ Lectures (08:45-10:00) (09:15-10:00)
▪ Exercises (10:00 – 12:00)
▪ The lectures start at 08:45 9:15

Edo Jelavic | 22.02.2021 | 4

Exercises

▪ Each exercise has several check questions

▪ Each exercise counts for 10% of the final grade (50 % in total)
▪ We encourage team work, but every student has to show the results on their
own PC and is evaluated individually
▪ There are 7 TAs, each has a group of students assigned
▪ The TA will be in the zoom call with you (10:00 - 12:00)

Edo Jelavic | 22.02.2021 | 5

Evaluation – Exercises

▪ Exercises are checked by the teaching assistants when you are ready, but latest
the following course day in the grading sessions
▪ Grading sessions (08:00 – 08:45, 08:00-09:15 except for exercise 5)
▪ The TA will take you in a separate breakout room
▪ After that you leave the grading session
▪ Let the teaching assistant know once you are ready to present your results

Edo Jelavic | 22.02.2021 | 6

Evaluation – Multiple Choice Test

▪ The test counts for 50 % of the final grade

▪ Duration: 45min
▪ The test will be in person
▪ The multiple choice test takes place at the last course day:

05.03.2021 at 08:00

Edo Jelavic | 22.02.2021 | 7

Overview Course 1

▪ ROS architecture & philosophy

▪ ROS master, nodes, and topics
▪ Console commands
▪ Catkin workspace and build system
▪ Launch-files
▪ Gazebo simulator

Edo Jelavic | 22.02.2021 | 8

What is ROS?
ROS = Robot Operating System

ros.org

▪ Process ▪ Simulation ▪ Control ▪ Package organization

management ▪ Visualization ▪ Planning ▪ Software distribution
▪ Inter-process ▪ Graphical user ▪ Perception ▪ Documentation
communication interface ▪ Mapping ▪ Tutorials
▪ Device drivers ▪ Data logging ▪ Manipulation

Edo Jelavic | 22.02.2021 | 9

History of ROS

▪ Originally developed in 2007 at the

Stanford Artificial Intelligence
Laboratory
▪ Since 2013 managed by OSRF
▪ Today used by many robots,
universities and companies
▪ De facto standard for robot
programming
ros.org

Edo Jelavic | 22.02.2021 | 10

ROS Philosophy

▪ Peer to peer
Individual programs communicate over defined API (ROS messages, services, etc.).
▪ Distributed
Programs can be run on multiple computers and communicate over the network.
▪ Multi-lingual
ROS modules can be written in any language for which a client library exists (C++, Python,
MATLAB, Java, etc.).
▪ Light-weight
Stand-alone libraries are wrapped around with a thin ROS layer.
▪ Free and open-source
Most ROS software is open-source and free to use.

Edo Jelavic | 22.02.2021 | 11

ROS Master

▪ Manages the communication between nodes (processes) ROS Master

▪ Every node registers at startup with the master

Start a master with

> roscore

More info
http://wiki.ros.org/Master

Edo Jelavic | 22.02.2021 | 12

ROS Nodes

▪ Single-purpose, executable program ROS Master

▪ Individually compiled, executed, and
Registration Registration
managed
▪ Organized in packages

Run a node with Node 1 Node 2

> rosrun package_name node_name

See active nodes with

> rosnode list

Retrieve information about a node with

More info
> rosnode info node_name http://wiki.ros.org/rosnode

Edo Jelavic | 22.02.2021 | 13

ROS Topics

▪ Nodes communicate over topics ROS Master

▪ Nodes can publish or subscribe to a topic
▪ Typically, 1 publisher and n subscribers Registration Registration
Informs about
▪ Topic is a name for a stream of messages connection

Node 1 Messages Node 2

Publisher Subscriber
List active topics with
> rostopic list
Publish Subscribe
Subscribe and print the contents of a topic with topic
Subscribe
> rostopic echo /topic
Show information about a topic with
More info
> rostopic info /topic http://wiki.ros.org/rostopic

Edo Jelavic | 22.02.2021 | 14

ROS Messages

▪ Data structure defining the type of a topic ROS Master

▪ Comprised of a nested structure of integers,
Registration Registration
floats, booleans, strings etc. and arrays of
objects
▪ Defined in *.msg files Node 1 Node 2
Publisher Subscriber
See the type of a topic
> rostopic type /topic Publish Subscribe
topic
Publish a message to a topic Subscribe
*.msg Message definition
> rostopic pub /topic type data
int number
double width
More info
string description
etc. http://wiki.ros.org/Messages

Edo Jelavic | 22.02.2021 | 15

ROS Messages
Pose Stamped Example

geometry_msgs/Point.msg geometry_msgs/PoseStamped.msg
float64 x std_msgs/Header header
float64 y uint32 seq
float64 z time stamp
sensor_msgs/Image.msg string frame_id
std_msgs/Header header geometry_msgs/Pose pose
uint32 seq geometry_msgs/Point position
time stamp float64 x
string frame_id float64 y
uint32 height float64 z
uint32 width geometry_msgs/Quaternion orientation
string encoding float64 x
uint8 is_bigendian float64 y
uint32 step float64 z
uint8[] data float64 w

Edo Jelavic | 22.02.2021 | 16

ROS Nodelets
Computer 1

▪ Same concept as ROS nodes

▪ Reduce communication overhead when Nodelet 1 data (no copy) Nodelet 2
running on same machine
▪ Try to use ROS nodes first
▪ Nodeletes are more complicated to data (copy) data (copy)
implement
Computer 2

Nodelet 3 data (no copy) Nodelet 4

More info
http://wiki.ros.org/nodelet

Edo Jelavic | 22.02.2021 | 17

Example
Console Tab Nr. 1 – Starting a roscore

Start a roscore with

> roscore

Edo Jelavic | 22.02.2021 | 18

Example
Console Tab Nr. 2 – Starting a talker node

Run a talker demo node with

> rosrun roscpp_tutorials talker

Edo Jelavic | 22.02.2021 | 19

Example
Console Tab Nr. 3 – Analyze talker node
See the list of active nodes
> rosnode list

Show information about the talker node

> rosnode info /talker

See information about the chatter topic

> rostopic info /chatter

Edo Jelavic | 22.02.2021 | 20

Example
Console Tab Nr. 3 – Analyze chatter topic

Check the type of the chatter topic

> rostopic type /chatter

Show the message contents of the topic

> rostopic echo /chatter

Analyze the frequency

> rostopic hz /chatter

Edo Jelavic | 22.02.2021 | 21

Example
Console Tab Nr. 4 – Starting a listener node

Run a listener demo node with

> rosrun roscpp_tutorials listener

Edo Jelavic | 22.02.2021 | 22

Example
Console Tab Nr. 3 – Analyze

See the new listener node with

> rosnode list

Show the connection of the nodes over the

chatter topic with
> rostopic info /chatter

Edo Jelavic | 22.02.2021 | 23

Example
Console Tab Nr. 3 – Publish Message from Console

Close the talker node in console nr. 2 with Ctrl + C

Publish your own message with

> rostopic pub /chatter std_msgs/String
"data: 'ETH Zurich ROS Course'"

Check the output of the listener in console nr. 4

Edo Jelavic | 22.02.2021 | 24

ROS Workspace Environment

▪ Defines context for the current workspace This is

▪ Default workspace loaded with already
setup in the
> source /opt/ros/noetic/setup.bash provided
installation.

Overlay your catkin workspace with

> cd ~/catkin_ws See setup with
> source devel/setup.bash
> cat ~/.bashrc
Check your workspace with
> echo $ROS_PACKAGE_PATH
More info
http://wiki.ros.org/kinetic/Installation/Ubuntu
http://wiki.ros.org/catkin/workspaces

Edo Jelavic | 22.02.2021 | 25

catkin Build System

▪ catkin is the ROS build system to generate executables,

libraries, and interfaces
The catkin
▪ We suggest to use the Catkin Command Line Tools command line
tools are
➔ Use catkin build instead of catkin_make pre-installed in
the provided
Navigate to your catkin workspace with installation.
> cd ~/catkin_ws

Build a package with

> catkin build package_name

Whenever you build a new package, update your environment More info

! > source devel/setup.bash

http://wiki.ros.org/catkin/Tutorials
https://catkin-tools.readthedocs.io/

Edo Jelavic | 22.02.2021 | 26

catkin Build System
The catkin workspace contains the following spaces

Work here Don’t touch Don’t touch

The source space contains The build space is where The development (devel)
the source code. This is where CMake is invoked to build the space is where built targets
you can clone, create, and packages in the source space. are placed (prior to being
edit source code for the Cache information and other installed).
packages you want to build. intermediate files are kept
here.

If necessary, clean the entire build and devel space with

More info
> catkin clean
http://wiki.ros.org/catkin/workspaces

Edo Jelavic | 22.02.2021 | 27

catkin Build System
The catkin workspace setup can be checked with
> catkin config

For example, to set the CMake build type to Release

(or Debug etc.), use
> catkin build --cmake-args
-DCMAKE_BUILD_TYPE=Release

Already
setup in the
More info provided
http://catkin-tools.readthedocs.io/en/latest/verbs/catkin_config.html
http://catkin-tools.readthedocs.io/en/latest/cheat_sheet.html installation.

Edo Jelavic | 22.02.2021 | 28

Example

Open a terminal and browse to your git folder https://github.com/leggedrobotics/ros_best_practices

> cd ~/git

Clone the Git repository with

> git clone https://github.com/leggedrobotics/
ros_best_practices.git

Symlink the new package to your catkin workspace

> ln -s ~/git/ros_best_practices/
~/catkin_ws/src/
Note: You could also directly clone to your catkin workspace, but using a
common git folder is convenient if you have multiple catkin workspaces.

Edo Jelavic | 22.02.2021 | 29

Example
Go to your catkin workspace
> cd ~/catkin_ws

Build the package with

> catkin build ros_package_template

Re-source your workspace setup

> source devel/setup.bash

Launch the node with

> roslaunch ros_package_template
ros_package_template.launch

Edo Jelavic | 22.02.2021 | 30

 Example console output for
ROS Launch roslaunch roscpp_tutorials talker_listener.launch

▪ launch is a tool for launching multiple nodes

(as well as setting parameters)
▪ Are written in XML as *.launch files
▪ If not yet running, launch automatically starts
a roscore

Browse to the folder and start a launch file with

> roslaunch file_name.launch

Start a launch file from a package with

> roslaunch package_name file_name.launch

More info
http://wiki.ros.org/roslaunch

Edo Jelavic | 22.02.2021 | 31

ROS Launch
File Structure

talker_listener.launch ! Attention when copy & pasting code from the internet

<launch> Notice the syntax difference

<node name="listener" pkg="roscpp_tutorials" type="listener" output="screen"/>
<node name="talker" pkg="roscpp_tutorials" type="talker" output="screen"/>
</launch>
! for self-closing tags:
<tag></tag> and <tag/>

▪ launch: Root element of the launch file

▪ node: Each <node> tag specifies a node to be launched
▪ name: Name of the node (free to choose)
▪ pkg: Package containing the node
▪ type: Type of the node, there must be a corresponding executable with the same name
▪ output: Specifies where to output log messages (screen: console, log: log file)
More info
http://wiki.ros.org/roslaunch/XML
http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20tips%20for%20larger%20projects

Edo Jelavic | 22.02.2021 | 32

ROS Launch
Arguments
range_world.launch (simplified)
<?xml version="1.0"?>
<launch>
<arg name="use_sim_time" default="true"/>
▪ Create re-usable launch files with <arg> tag, <arg name="world" default="gazebo_ros_range"/>
<arg name="debug" default="false"/>
which works like a parameter (default optional) <arg name="physics" default="ode"/>
<arg name="arg_name" default="default_value"/>
<group if="$(arg use_sim_time)">
<param name="/use_sim_time" value="true" />
</group>
▪ Use arguments in launch file with
<include file="$(find gazebo_ros)
$(arg arg_name) /launch/empty_world.launch">
<arg name="world_name" value="$(find gazebo_plugins)/
test/test_worlds/$(arg world).world"/>
▪ When launching, arguments can be set with <arg name="debug" value="$(arg debug)"/>
<arg name="physics" value="$(arg physics)"/>
> roslaunch launch_file.launch arg_name:=value </include>
</launch>

More info
http://wiki.ros.org/roslaunch/XML/arg
Edo Jelavic | 22.02.2021 | 33
ROS Launch
Including Other Launch Files
range_world.launch (simplified)
<?xml version="1.0"?>
<launch>
<arg name="use_sim_time" default="true"/>
<arg name="world" default="gazebo_ros_range"/>
▪ Include other launch files with <include> tag to <arg name="debug" default="false"/>
organize large projects <arg name="physics" default="ode"/>

<include file="package_name"/> <group if="$(arg use_sim_time)">

<param name="/use_sim_time" value="true" />
▪ Find the system path to other packages with
</group>

<include file="$(find gazebo_ros)

$(find package_name)
/launch/empty_world.launch">
<arg name="world_name" value="$(find gazebo_plugins)/
▪ Pass arguments to the included file test/test_worlds/$(arg world).world"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="arg_name" value="value"/> <arg name="physics" value="$(arg physics)"/>
</include>
</launch>

More info
http://wiki.ros.org/roslaunch/XML/include
Edo Jelavic | 22.02.2021 | 34
Gazebo Simulator
Object tree Toolbar (to navigate and new objects)
▪ Simulate 3d rigid-body dynamics
▪ Simulate a variety of sensors including noise
▪ 3d visualization and user interaction
▪ Includes a database of many robots and
environments (Gazebo worlds)
▪ Provides a ROS interface
▪ Extensible with plugins

Run Gazebo with

> rosrun gazebo_ros gazebo Properties Start and pause simulation
More info
http://gazebosim.org/
http://gazebosim.org/tutorials

Edo Jelavic | 22.02.2021 | 35

Further References

▪ ROS Wiki ▪ ROS Cheat Sheet

▪ http://wiki.ros.org/ ▪ https://www.clearpathrobotics.com/ros-robot-op
▪ Installation erating-system-cheat-sheet/
▪ http://wiki.ros.org/ROS/Installation ▪ https://kapeli.com/cheat_sheets/ROS.docset/
Contents/Resources/Documents/index
▪ Tutorials
▪ ROS Best Practices
▪ http://wiki.ros.org/ROS/Tutorials
▪ https://github.com/leggedrobotics/
▪ Available packages ros_best_practices/wiki
▪ http://www.ros.org/browse/
▪ ROS Package Template
▪ https://github.com/leggedrobotics/ros_best_
practices/tree/master/ros_package_template

Edo Jelavic | 22.02.2021 | 36

ETH Robotics Summer School

▪ A full week (July 5-9) with lectures, tutorials and

hands-on focus, ending with a robotic challenge.
▪ Students are invited to attend the ETH Robotic
Symposium (tentative date: July 2).
▪ Takes place in Wangen an der Aare
▪ Application window Feb. 15 to Mar. 26.
▪ Acceptance notification April 15.

More info:
https://robotics-summerschool.ethz.ch/

Edo Jelavic | 22.02.2021 | 37

RobotX - Robotic Platforms

4 all terrain robots “Super Mega Bot” (SMB)

▪ Base (skid steer drive, driving battery,
E-Stop, remote control)
▪ Payload
▪ Intel NUC (option for GPU and 2nd NUC)
▪ Connectivity (WiFi, 4G Modem)
▪ Sensors:
▪ RGB-D - RealSense D435
▪ 3D LiDAR - RoboSense RS-16
▪ Tracking Cam - RealSense T265
▪ VIO-System - VersaVis / RGB / IMU

Edo Jelavic | 22.02.2021 | 38

Tentative Program

Su 04 Mo 05 Tu 06 We 07 Th 08 Fr 09
9:00
Intro to RSS Localization & Mapping Visual Recognition

10:00
Robot time Robot time
Tutorial Tutorial
Intro to Robots
11:00

12:00 Robot time Robot time

Lunch Lunch Lunch
13:00
State Estimation Lunch Lunch

14:00 Robot time

Transfer to WadA Path Planning Challenge
Tutorial
Robot time
15:00
Break Tutorial Break
16:00 Awards
Trajectory Optimization
Break
17:00
Transfer to ZH
Tutorial
Social Activity Social Activity Robot time
18:00
Robot time
19:00 Robot time

Edo Jelavic | 22.02.2021 | 39

Preview

Edo Jelavic | 22.02.2021 | 40

Contact Information

ETH Zurich Lecturers

Robotic Systems Lab Edo Jelavic ([email protected])
Prof. Dr. Marco Hutter Tom Lankhorst ([email protected])
LEE H 303
Leonhardstrasse 21 Course website:
8092 Zurich http://www.rsl.ethz.ch/education-students/lectures/ros.html
Switzerland

http://www.rsl.ethz.ch

Edo Jelavic | 22.02.2021 | 41