COM2009 Assignment #1 Worked Examples

Solutions to the COM2009 Assignment #1 Course Exercises

Part 1 (ROS & Linux Basics)

https://tom-howard.github.io/ros/com2009/assignment1/part1/

• Exercise 5 "Creating a publisher node": The publisher.py node
• Exercise 6 "Creating a subscriber node": The subscriber.py node
  • Exercise 6 Advanced: The publisher.py (float64) node and The subscriber.py (float64) node
• Exercise 8 "Creating a launch file": The pubsub.launch file

Part 2: Odometry & Navigation

https://tom-howard.github.io/ros/com2009/assignment1/part2/

• Exercise 2 "Creating a Python node to process Odometry data": The odom_subscriber.py node
• Exercise 4 "Creating a Python node to make the robot move in a circle": The move_circle.py node
  • Exercise 4 Advanced: Launch file
• Exercise 5 "Making your robot follow a Square motion path": the move_square.py node
  • Exercise 5 Advanced (1): Stopping after 2 squares
  • Exercise 5 Advanced (2): Launch File

Part 4: ROS Services

https://tom-howard.github.io/ros/com2009/assignment1/part4/

• Exercise 1 "Creating a Service Server in Python and calling it from the command-line": The move_server.py node
• Exercise 2 "Creating a Python Service Client Node": The move_client.py node
• Exercise 3 "Making and calling your own Service": The timed_move_server.py node
• Exercise 4 "Approaching an object using a Service and closed-loop control": The approach_server.py node

Part 5: ROS Actions

https://tom-howard.github.io/ros/com2009/assignment1/part5/

• Exercise 2 "Building a Python Action Client Node with Concurrency": The action_client.py node and the concurrent_action_client.py node
• Exercise 3 "Building a Preemptive Python Action Client Node": The preemptive_action_client.py node
• Exercise 4 "Developing an "Obstacle Avoidance" behaviour using an Action Server":
  • The search_server.py
  • The search_client.py
• Advanced Exercise 1 "Implementing a Search strategy": A basic example.

Part 6: Cameras, Machine Vision & OpenCV

https://tom-howard.github.io/ros/com2009/assignment1/part6/

• Exercise 3 "Locating image features using Image Moments": The colour_search.py Node
• Exercise 4 "Line Following": The line_follower.py Node