Description

ROS: Introduction
Name:
Preparation JMBAG:
• Review the ROS lecture slides.
• Make sure you are familiar with the turtlesim package.
• If you haven’t done so already, create a catkin workspace.
• Install pynput, python library for controlling and monitoring input devices, by running:
pip3 install pynput
Assignments

Task 1: Mouse Tracker
a) Clone the prepared ROS package, mouse tracker, in your catkin workspace, start roscore and run mouse position publisher.py node from the cloned package. Which command did you use to run the node?
b) Once you started the node, go ahead and check which topics does it publish. Which command are you using for listing ROS topics?
d) To verify that the mouse position publisher.py node runs as it should, print the published messages directly from the terminal. Write the command you have used for printing the messages.
e) Inspect the coordinates of the upper left and bottom right corner of your screen. What is your screen resolution?
f) Inside the mouse tracker package create a new folder called launch. Write a launch file, track mouse.launch which will run mouse position publisher.py node and turtlesim node from the turtlesim package.
Exercise submission

Create a zip archive containing this pdf file with the filled out answers and the mouse tracker package. Upload the archive to Moodle.

Laboratory exercise 4, ROS: Introduction 1