Monday, July 30, 2018

ROS in 5 mins

A series of 5 minutes (or more) videos about  different topics in ROS from "The Construct"

023 - Understanding ROS Coordinate Frame (Part 1 /2)

coordinate frames convention , linear and angular motion
Which X are forward, which direction are positive rotation

110 - How to launch two drones on a Single Gazebo Simulation

Show you how you can launch two drones (or more) in the same Gazebo simulation, each one having its own independent control system based on ROS. This procedure can be replicated to launch as many drones as required.

044 - How to convert quaternions to Euler angles

The following example can help you understand how to use the conversion from quaternions provided by an Odometry message to Euler angles Roll, Pitch and Yaw.

135 -How to rotate a robot to a desired heading using feedback from odometry

Rotate our robot based on data from odometry. We will subscribe to /odom topic to get the heading of our robot, process it, and then send a command over the
/cmd_vel_mux/input/teleop topic.

070 - Moving Joints in Gazebo Simple Example

Create URDF, add the ros control plugin, and include a config file to configure the plugin. launch and send commands (see


Install NVIDIA driver on ubuntu

Automatic Install using standard Ubuntu Repository

Detect the nvidia model and the recommended driver

 $ ubuntu-drivers devices
== /sys/devices/pci0000:00/0000:00:01.0/0000:01:00.0 ==
modalias : pci:v000010DEd00001180sv00001458sd0000353Cbc03sc00i00
vendor   : NVIDIA Corporation
model    : GK104 [GeForce GTX 680]
driver   : nvidia-304 - distro non-free
driver   : nvidia-340 - distro non-free
driver   : nvidia-384 - distro non-free recommended
driver   : xserver-xorg-video-nouveau - distro free builtin 
install recommended driver by running
$ sudo ubuntu-drivers autoinstall
rboot and check
the easiest way to check 
Settings -> Details -> about  

How to install the NVIDIA drivers on Ubuntu 18.04 Bionic Beaver Linux  

VSCode ROS extensions

List of nice VSCode extensions helping work with ROS

Special for ROS

Common but useful
  • Python (link)
  • XML Tools (link)
  • YAML Support by Red Hat (link)

Good ROS Tutorials

Here is a list of good ROS tutorials that i done

This project is about using a Two Wheeled Mobile Robot to explore features and tools provided by ROS (Robot Operating System). We start building the robot from the scratch, using URDF (Unified Robot Description Format) and RViz to visualize it. Further, we describe the inertia and show how to simplify the URDF using XACROS. Later, motion planning algorithms, such as Obstacle Avoidance and Bugs 0, 1 and 2 are developed to be used in the built robot. Some ROS packages, like robot_localization, are used to built a map and localize on it.
My source code
5 golden tutorials

My source code

Gaitech EDU is an educational website on robotics and in particular on Robot Operating System (ROS). The objective is to provide an easy-to-follow educational content that helps in better mastering the concepts of ROS and promoting its use for developing robotics software