Robotics Class 2011/Assignment 1: Difference between revisions
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Write a ROS node that subscribes to the "sensorPacket" topic (a message of type irobot_create_2_1/SensorPacket), and uses values from within this packet to represent the emotional state of the robot. You will then publish the robot emotional state via publishing a message of type robot_emotions/EmotionalState with the topic name "robot_emotions". | Write a ROS node that subscribes to the "sensorPacket" topic (a message of type irobot_create_2_1/SensorPacket), and uses values from within this packet to represent the emotional state of the robot. You will then publish the robot emotional state via publishing a message of type robot_emotions/EmotionalState with the topic name "robot_emotions". | ||
In order to obtain the definition of the robot_emotions/EmotionalState message, you will need to check out the robot_emotions ROS package from the HacDC ROS repository: | In order to obtain the definition of the robot_emotions/EmotionalState message, you will need to check out the robot_emotions ROS package from the HacDC ROS repository: | ||
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svn co http://hacdc-ros-pkg.googlecode.com/svn/trunk/robot_emotions | svn co http://hacdc-ros-pkg.googlecode.com/svn/trunk/robot_emotions | ||
rosmake robot_emotions | rosmake robot_emotions | ||
You can explore the structure of the two above message types by using rosmsg show in the following way: | |||
rosmsg show irobot_create_2_1/SensorPacket | |||
rosmsg show robot_emotions/EmotionalState | |||
Assignment Hint: | Assignment Hint: | ||
Revision as of 20:05, 4 June 2011
Assignment 1 for the Robotics Class 2011
Write a ROS node that subscribes to the "sensorPacket" topic (a message of type irobot_create_2_1/SensorPacket), and uses values from within this packet to represent the emotional state of the robot. You will then publish the robot emotional state via publishing a message of type robot_emotions/EmotionalState with the topic name "robot_emotions".
In order to obtain the definition of the robot_emotions/EmotionalState message, you will need to check out the robot_emotions ROS package from the HacDC ROS repository:
cd to where you store your downloaded ROS packages svn co http://hacdc-ros-pkg.googlecode.com/svn/trunk/robot_emotions rosmake robot_emotions
You can explore the structure of the two above message types by using rosmsg show in the following way: rosmsg show irobot_create_2_1/SensorPacket rosmsg show robot_emotions/EmotionalState
Assignment Hint: The robot_emotions ROS package is actually a complete (but very simple) solution to the homework. Feel free to investigate it if you need help. If you want to try running the emotion generator provided within the robot_emotions package, just type (after doing the rosmake robot_emotions above):
rosrun rosrun robot_emotions emotion_generator.py
After typing this, a "rostopic list" command will show a new topic called robot_emotions, just as the assignment asked for.