Beginner - Use ROS

What you will need

• A computer set up with the Duckietown software requirements

• An initialized Duckiebot

• Completed tutorial on DTProject

What you will get

• A working knowledge of ROS development in Duckietown

• A custom ROS node with a publisher and a subscriber running on your Duckiebot

Table of contents

• New ROS DTProject
• Catkin Packages
• ROS Publisher
• ROS Subscriber
• Faster Development Workflow
• Subscribe to camera
• Subscribe to wheel encoders
• Publish to wheels
• Publish chassis-level commands

Basic Project Structure

In Duckietown, everything runs in Docker containers. All you need in order to run a piece of software that uses ROS in Duckietown is a Duckietown-compliant Docker image with your software in it.

A boilerplate is provided here. If you have completed the Tutorial on DTProject (as you should have), you will recognize the content of this repository as being a DTProject template.

Similarly to what we learned in New project, we will instantiate a new project repository by using the template repository available on GitHub.

The procedure for building and executing a ROS-compatible DTProject is the same we learned in the Tutorial on DTProject section.

Let’s get started!