Lab 3

Steps 1-3

For steps 1-3, you can use the MATLAB or Python starter code provided. First, make your own copy personal copy of the Lab 3 repo with the Use This Template button. Then, for MATLAB users, you will need to git clone this repository onto your personal computer via: If using Python, you have the option of cloning on your personal machine or on eceprog. If using eceprog, please run the git clone command from your home directory.

Step 4

For Step 4, you will need to download and build the packages within the ws3 workspace, which have been provided for you. In a new terminal on eceprog (or your own linux machine), in the home directory, clone your Lab 3 repo. It will download the entire repository, which is fine. All you really need is the ws3 folder.

Then you can run the setup-ros-workspace tool from the home directory:

setup-ros-workspace ws3 humble

Then you can build and source the workspace (if this is not working, open a new terminal and try again):

rosd && cb && _ws3

It is important that you have only sourced the ws3 workspace. If you see an error message saying there are multiples packages with the same name, this is the issue.

You can run the following command to see if things are working:

ros2 launch msee22_description view_room.launch.py

Then, in the ws3/src/py_joint_pub/py_joint_pub/joint_publisher_csv.py file, change line 18 to your filename. Also, copy and paste your <username>.csv file into the ws3/src/py_joint_pub/py_joint_pub/resource folder. A good way to get your CSV file into eceprog is to upload the file to github, and then run git pull on eceprog to download the changes back onto eceprog. Then, you can move the .csv file to the resource folder. Finally, rebuild the package and source your workspace. You can visualize your robot's trajectory with

ros2 launch msee22_description move_robot.launch.py

Be sure to take a screenshot for your lab report.

Bonus

You can upload a .csv file named <username>_bonus.csv which meets the requirements outlined in Overleaf. Be sure this trajectory satisfies all requirements before uploading to Brightspace/Gradescope.