Submission Link : Form

Complete The following tutorials in order before starting the challenge

• Accessing ROS Files

• Creating a ROS Package

It’s important to understand the first tutorial completely but it might be difficult to understand the second tutorial. Therefore we have written the basic steps to create a ROS package.

cd ~/catkin_ws/src
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

Dependencies include rospy [for writing code in python] roscpp [for writing code in c++]

cd ~/catkin_ws
catkin_make
. ~/catkin_ws/devel/setup.bash

Now it's time to apply the knowledge gained!

Task-0 (1st Submission)

Turtlesim using keyboard

1. Make a video of about 10 seconds of turtle moving (controlled by arrow keys)

2. Attach a screenshot of the rostopic list of turtlesim

3. Attach a screenshot of rosnode list of turtlesim

Task-1

Create a Package

1. Create a package (inside the catkin_ws) with the name alpha_challenge with dependencies rospy

2. Inside the alpha_challenge package folder (which would be inside the catkin_ws folder), create a new folder with the name launch and add this file in the launch folder.

3. Inside the alpha_challenge package folder, create a new folder with the name scripts and add this file in the scripts folder.

4. cd to the scripts folder and make the python file executable with this command

   chmod u+x move.py

5. Don’t forget to do catkin_make when you add a package in catkin_ws

Task-2 (2nd Submission)

Create 3 new terminal windows, the submission must contain a single screenshot with all 3 terminal windows together.

• First Terminal: Use the command roscd to find the package path of the package task1 created above. [Apply the knowledge of 1st tutorial]

• Second Terminal: Repeat the above task by using the rospack command instead of the roscd command.

• Third Terminal: Repeat the above task by using the rosls command instead of the rospack command.

Task-3

Now you need to launch the given launch file you added in the first task using the following command

roslaunch alpha_challenge move.launch

The turtlesim should move in a straight line.

Now, your task is to modify the code in the python file move.py such that it performs the following subtasks:

• Move the turtlesim in an equilateral triangle of side length 2 units (3rd Submission)

• Move the turtlesim in this manner (4th Submission)

Resources

• ROS Zero Challenge

• Turtlesim

• ROS Distros

• ROS Tutorials