Installing and Configuring Your ROS Environment (ROS will already be installed and configured on all your machines but it is still good to know how to do it)

Creating a ROS Package

Building a ROS Package

Understanding ROS Nodes

Understanding ROS Topics

Understanding ROS Services and Parameters

Using rqt_console and roslaunch

Creating a ROS msg and srv

Writing a Simple Publisher and Subscriber (Python)

Recording and playing back data

Reading messages from a bag file

make sure that you add the following to your ~/.bashrc file, otherwise you will need to run the commands every time you open a new terminal:

• source /opt/ros/melodic/setup.bash
• source ~/sawyer_ws/devel/setup.bash

make sure you do a catkin_make in the sawyer_ws directory after making any changed to msgs, files that need to be compiled (such as c++ files), or create new files

before you can connect to Tibor you must intera in by running ./intera.sh from sawyer_ws while the robot is running.