From 6bd90a01494f053e1dfc2e033285f9deca3e9e4e Mon Sep 17 00:00:00 2001 From: shubh2001 Date: Fri, 3 Sep 2021 16:55:32 +0530 Subject: [PATCH 1/3] Added first Report --- .../student_Reports/Shubh_ROS_Report_2021.md | 71 ++++++++++++++++++ .../student_Reports/static/Shubh_2021_1.jpeg | Bin 0 -> 21291 bytes docs/computer/student_Reports/students.md | 1 + 3 files changed, 72 insertions(+) create mode 100644 docs/computer/student_Reports/Shubh_ROS_Report_2021.md create mode 100644 docs/computer/student_Reports/static/Shubh_2021_1.jpeg diff --git a/docs/computer/student_Reports/Shubh_ROS_Report_2021.md b/docs/computer/student_Reports/Shubh_ROS_Report_2021.md new file mode 100644 index 0000000..2aa1137 --- /dev/null +++ b/docs/computer/student_Reports/Shubh_ROS_Report_2021.md @@ -0,0 +1,71 @@ +--- +title: ROS Report for Internship at AUVZHCET +author: Shubh Singhal +email: shubhsinghal02@gmail.com +Duration: 1 July - 7 August 2021 +--- + +## ROS (Robot Operating System) + +**Objective**: Complete ROS revision, Creating a basic talker & listener node. + +**Resources**: + - [ROS tutorials](http://wiki.ros.org/ROS/Tutorials) + - [_towardsdatascience_ Blog](https://towardsdatascience.com/what-why-and-how-of-ros-b2f5ea8be0f3) + - [ Overview Video on ROS](https://www.youtube.com/watch?v=vrFFnupcRL4) + + **Tech/Software used**: Ubuntu 20.04/ ROS Noetic + + **Summary**: + ROS or Robot Operating System is a middleware, more of a low-level framework responsible for handling the communication between programs in a distributed system. The idea behind using ROS is creation of unique sub-programs (_nodes_) for each particular task. There are various parts of ROS such as topics, messages, nodes, services etc. In Robotics one has to deal with plenty of senosrs & actuators. Instead of creating a single large code-base to run the entire robot, ROS helps us in creating a distributed system for all these components. + +| ![ROS Workflow](static/Shubh_2021_1.jpeg) | +| :---: | +| Fig: Workflow of ROS | + +**Procedure**: +A basic talker and listener node will be created. The talker node is responsible for detecting the keyboard input +``` +#!/usr/bin/env python3 #The first line makes sure your script is executed as a Python script. +import rospy +from std_msgs.msg import String #String message type will be used for publishing + +import getch + +def talker(): + pub = rospy.Publisher('which_key', String, queue_size=10) #talker publishes to the topic which_key + rospy.init_node('key_publisher', anonymous=True) #Tells rospy the name of our node + rate = rospy.Rate(10) + while not rospy.is_shutdown(): + key = getch.getch() + pub.publish(key) + + rate.sleep() + +if __name__ == '__main__': + try: + talker() + except rospy.ROSInterruptException: + pass +``` +The subscriber node will do as it name suggests. It subcribes to our topic `which_key` and logs the message. + +``` +#!/usr/bin/env python3 +import rospy +from std_msgs.msg import String + +def callback(data): + rospy.loginfo("I heard %s", data) + +def listener(): + rospy.init_node('key_subscriber', anonymous=True) + rospy.Subscriber('which_key', String, callback) + rospy.spin() + +if __name__ == '__main__': + listener() +``` + **Result**: Completed an overview of ROS from various resources. Created a talker/listener setup which detects `keyboard` inputs + + **Future Work**: Shift current code to ROS diff --git a/docs/computer/student_Reports/static/Shubh_2021_1.jpeg b/docs/computer/student_Reports/static/Shubh_2021_1.jpeg new file mode 100644 index 0000000000000000000000000000000000000000..8bc00cf8a6dced1badf1f4c8e06bc426713232bd GIT binary patch literal 21291 zcmce;2{@E*zXv`gsZ^3J#8i?>QnHjVl~5$fGM2{tO0t_|XP7pGXq8V2rWLIy07;VP>BBKmFcw-t(UGp6maA&$+Junal0E9`ii+bFZK8=ll77Z-M~< z1@aUkw0ZOIAMmpU{1M(JEWBll@D34?t=o3)*tt`5hp6bT-Fx@!+AY3YRCJH@9&rgt zDJiL)Vlw-rCHL)>l#<*e1m3?zc)PIhcFA3$yCna|AHipc_%;Z8(-)ylhaj89HwlSv z5;Skhf7m!TxOCvPEc%$nXAa+8hKHA@ME32TyO^d(l$lwy(q?jYr!gFD1S& z{jy!@%uR;Wod;bzqz`M3DKmd}>8~FBYaM$0zv|K7JM{Pd2!V0c3)>)NS%00O7#C zaUWeZ>3QDeM__@@4;tf$0McrCe5QRz(hF5a!?E!q)8=;J$Ek-8GR+nhGvvglrW2D@ zo@&OVqc>dYC$Y3Tq&|_!>k>e=`8*LoE-0K4Kp^7+$hhYpkn=z9pC?aue?OhX&ap*u z#0T3Ypuirg2=GwX71%@)K$`#gF%LQ`Igf=MFz6AZ)Zt(Y+}89d9|{qLsIBcO_8IN< 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z$zhTxs%jO@sRz!8k4_XkW4#&@1=jfkd;-lPee+zTV>R`6NSTE5QhlNEPgThYWa{^w z3`NaLs6eX|MpipaW&y)t8xB}T(Gj&!AdqJ#yj5~TS!Oc1-x;l0;RlLkt+Yqwi-$`a zLH^QN$WpBd0c9;FKL0fe%<=JrcG&^%0Yy}Kq<#SQ(DCWrR+-d2ruK5wT`lPe1~r|<(jm=Cd!l5c&DR6Fx7FoegXZ>|*CdcnZC=S@?F}QA za#b$zKlgcKeLk9;JP=n{Bh)JpW9I)tnD7N*(=P~LBsT?;XdLJ}mj@`Bn$>)LI}w_0 zEo*AE2CoMZ6*JGBcLtvp9J)Xp-Vc1RFH4FsqT4TQM;lVuzTCavlssU8GL;`1PY%tM zIRSD&hY;XOY?*qWL^U;V9MecTaIHBdKT!)=Or2400Re?k*Hri|^t8VA1!+8@`0u~| NqYK1S`w&b0e*tmnn%V#W literal 0 HcmV?d00001 diff --git a/docs/computer/student_Reports/students.md b/docs/computer/student_Reports/students.md index 90bff99..e409b47 100644 --- a/docs/computer/student_Reports/students.md +++ b/docs/computer/student_Reports/students.md @@ -13,3 +13,4 @@ Format: [Designation - Team - Name - Academic Year] (Link to the doc) - [Acoustic Source Localization Subsystem - SAUVC - Mohd Hozaifa Khan - 2019-20](Acoustic-Source_Mohd-Hozaifa-Khan.md) - [COVID-19 Precautionary System for ZHCET - SAUVC - Mohd Hozaifa Khan - 2019-20](Computer-Team_SAUVC_Mohd-Hozaifa-Khan_2019-20.md) - [Vorc Competition](vorc.md) +- [Intern-Computer Team-Shubh-ROS-2021](Shubh_ROS_Report_2021.md) From f2ba9a1e46fbbd288db60438dc2a6ee2f75acb2a Mon Sep 17 00:00:00 2001 From: shubh2001 Date: Fri, 3 Sep 2021 16:57:46 +0530 Subject: [PATCH 2/3] Changed rep --- docs/computer/student_Reports/Shubh_ROS_Report_2021.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/computer/student_Reports/Shubh_ROS_Report_2021.md b/docs/computer/student_Reports/Shubh_ROS_Report_2021.md index 2aa1137..bbbb84b 100644 --- a/docs/computer/student_Reports/Shubh_ROS_Report_2021.md +++ b/docs/computer/student_Reports/Shubh_ROS_Report_2021.md @@ -7,7 +7,7 @@ Duration: 1 July - 7 August 2021 ## ROS (Robot Operating System) -**Objective**: Complete ROS revision, Creating a basic talker & listener node. +**Objective**: Complete ROS revision, Creating a basic talker & listener node **Resources**: - [ROS tutorials](http://wiki.ros.org/ROS/Tutorials) From 107b623ddc735d1a4c41cb559b40572e2bedd8ff Mon Sep 17 00:00:00 2001 From: shubh2001 Date: Fri, 3 Sep 2021 17:05:14 +0530 Subject: [PATCH 3/3] docs: Final Report ROS --- docs/computer/student_Reports/Shubh_ROS_Report_2021.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/computer/student_Reports/Shubh_ROS_Report_2021.md b/docs/computer/student_Reports/Shubh_ROS_Report_2021.md index bbbb84b..3030611 100644 --- a/docs/computer/student_Reports/Shubh_ROS_Report_2021.md +++ b/docs/computer/student_Reports/Shubh_ROS_Report_2021.md @@ -48,7 +48,7 @@ if __name__ == '__main__': except rospy.ROSInterruptException: pass ``` -The subscriber node will do as it name suggests. It subcribes to our topic `which_key` and logs the message. +The subscriber node will do as its name suggests. It subcribes to our topic `which_key` and logs the message. ``` #!/usr/bin/env python3