diff --git a/catkin_ws/src/learn_environment/task_pool/solution_scripts/move_it/move_it_basics/move_it_basics_2.ipynb b/catkin_ws/src/learn_environment/task_pool/solution_scripts/move_it/move_it_basics/move_it_basics_2.ipynb
index c40ea1e73862eac50deb222ba9e6ea403de367ec..269af91a8d8002ead8284cf6f2510f100dc3437a 100644
--- a/catkin_ws/src/learn_environment/task_pool/solution_scripts/move_it/move_it_basics/move_it_basics_2.ipynb
+++ b/catkin_ws/src/learn_environment/task_pool/solution_scripts/move_it/move_it_basics/move_it_basics_2.ipynb
@@ -58,7 +58,7 @@
"\n",
"- initialize ``roscpp`` with ``sys.argv`` as an argument\n",
"- initialize a ``ROS node``\n",
- "- assign a ``MoveGroupCommander`` instace to ``group``"
+ "- assign a ``MoveGroupCommander`` instance to ``group``"
]
},
{
diff --git a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_1.ipynb b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_1.ipynb
index 9a93b769c8c5caaeb25d9fe2de70ac253b1ec4ec..c14d00f8c446bff7b5549384fcc3334301f97a89 100644
--- a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_1.ipynb
+++ b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_1.ipynb
@@ -41,7 +41,7 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "To use the ``ROS`` Python API, the ``rospy`` library must first be imported. Since we want to exchange regular strings later, we need to import the String message type. Additionally, the standard Python module ``time`` is used for handling time calculations."
+ "To use the ``ROS`` Python API, the ``rospy`` library must first be imported. Since we want to exchange regular strings later, we need to import the String message type ``std_msgs.msg``. Additionally, the standard Python module ``time`` is used for handling time calculations."
]
},
{
@@ -85,7 +85,7 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "Now we want to create a ``Publisher`` that sends Strings messages to the ``'chatter'`` topic."
+ "Now we want to create a ``Publisher`` that sends ``Strings`` messages to the ``'chatter'`` topic. The ``queue_size`` argument specifies the number of messages that can be held in a buffer when ``subscribers`` to the ``topic`` are not immediately ready to process them."
]
},
{
diff --git a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_2.ipynb b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_2.ipynb
index c189dd9a853860804dc7e066ff961f466ad5a9e4..efd2bf9f9e0dae6c6b85327ab33ee51dc24ccf53 100644
--- a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_2.ipynb
+++ b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_2.ipynb
@@ -64,7 +64,6 @@
"\n",
"def callback(msg):\n",
" rospy.loginfo(\"data: \" + msg.data)\n",
- " sys.stdout.flush()\n",
"\n",
"##### DO NOT CHANGE #####"
]
diff --git a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_3.ipynb b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_3.ipynb
index d50c3d30338ccfa0aa2584dbc9005dda25a05723..1279cd39e153e816a5bdad1fd92639f5d11c96af 100644
--- a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_3.ipynb
+++ b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_3.ipynb
@@ -77,9 +77,9 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "The Panda Robot is a 7-axis robotic arm with a gripper/ finger.\n",
+ "The Panda Robot is a 7-axis robotic arm with a gripper/ finger. \n",
"\n",
- "- ``/joint_states``: on this topic the current joints position, velocity and effort are published and the message type is JointState\n",
+ "- ``/joint_states``: on this topic the current joint positions, velocity and effort are published and the message type is JointState\n",
"- ``/franka_state_controller/franka_states ``: on this topic the pose of the end-effector (gripper) relative to the robot's base frame, robot_mode, control_mode and many more are published. It uses the message type FrankaState.\n",
"- ``/tf``: contains metadata that describes the translation and rotation (quaternion) between two frames\n",
"- etc."
diff --git a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_1.ipynb b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_1.ipynb
index f44f14419117bd2e8f8312f473111493c8fa4c23..69f07081f9264d02a5fe2002b5a5fe397e31dcfb 100644
--- a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_1.ipynb
+++ b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_1.ipynb
@@ -64,6 +64,8 @@
"metadata": {},
"outputs": [],
"source": [
+ "pub = None\n",
+ "\n",
"##### YOUR CODE HERE #####\n",
"\n",
"rospy.init_node(\"joint_manipulator\")\n",
diff --git a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_2.ipynb b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_2.ipynb
index 849bcdddbe75eb9fc206aa6bfe97228610908eb0..080800a29c9d6d7f333f8bff4a54b197cafe085e 100644
--- a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_2.ipynb
+++ b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_2.ipynb
@@ -51,7 +51,12 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "Initialize a subscriber node by first creating the ``ROS node``. Then, define a ``subscriber`` within this node, selecting the appropriate ``topic`` and ensuring that the correct message type is specified."
+ "Initialize a publisher node by first creating the ``ROS node``. Then, define a ``publisher`` within this node, selecting the appropriate ``topic`` and ensuring that the correct message type is specified.\n",
+ "\n",
+ "ToDo:\n",
+ "\n",
+ "- create ``ROS node``\n",
+ "- implement a ``publisher`` to the ``pub`` variable"
]
},
{
@@ -60,6 +65,8 @@
"metadata": {},
"outputs": [],
"source": [
+ "pub = None\n",
+ "\n",
"##### YOUR CODE HERE #####\n",
"\n",
"rospy.init_node(\"joint_manipulator\")\n",
@@ -95,7 +102,15 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "Next, add three points to the ``JointTrajectory`` object. In the first point, set ``joint6`` to ``155`` degrees. For the second point, set the joint positions to ``[-1.5, -0.5, 0, -1.5, 0, 1.5, 0]``. In the final point, reset the robot to its default position. That would be ``[0, -45, 0, -135, 0, 90, 45]`` degrees. Set the time_from_start variable correctly to 2, 4 and 6 seconds."
+ "Next, add three points to the ``JointTrajectory`` object. For the first point, change a single joint. For the second point, set the joint positions to a completly new position. In the final point, reset the robot to its default position. That would be ``[0, -45, 0, -135, 0, 90, 45]`` degrees. Set the ``time_from_start`` variable correctly to 2, 4 and 6 seconds.\n",
+ "\n",
+ "ToDo:\n",
+ "\n",
+ "- point1: set ``joint6`` to ``155`` degrees\n",
+ "- point2: set to ``[-1.5, -0.5, 0, -1.5, 0, 1.5, 0]``\n",
+ "- point3: set to default position\n",
+ "- set the ``time_from_start``\n",
+ "- append the points to the ``joint_trajectory``"
]
},
{
@@ -104,12 +119,12 @@
"metadata": {},
"outputs": [],
"source": [
- "##### YOUR CODE HERE #####\n",
- "\n",
"point1 = JointTrajectoryPoint()\n",
"point2 = JointTrajectoryPoint()\n",
"point3 = JointTrajectoryPoint()\n",
"\n",
+ "##### YOUR CODE HERE #####\n",
+ "\n",
"current_joint_values = rospy.wait_for_message('/joint_states', JointState, timeout=5).position\n",
"\n",
"point1.positions = list(current_joint_values)\n",
diff --git a/catkin_ws/src/learn_environment/task_pool/solution_template.ipynb b/catkin_ws/src/learn_environment/task_pool/solution_template.ipynb
index e1365349f4b89790872eef951d18b4b00a92fbdb..a5fc48890f67da56e456ee4388a2f793e3e06226 100644
--- a/catkin_ws/src/learn_environment/task_pool/solution_template.ipynb
+++ b/catkin_ws/src/learn_environment/task_pool/solution_template.ipynb
@@ -4,8 +4,8 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "# Learn Environment Panda Robot\n",
- "Author: NAME"
+ "# Educational Plattform Panda Robot\n",
+ "Author: uninh, uqwfa, ultck"
]
},
{
@@ -13,12 +13,14 @@
"metadata": {},
"source": [
"## Task_Name\n",
- "### Subtask_Name\n",
- "\n",
+ "### Task X\n",
+ "---\n",
"> In this task, you will learn ...\n",
">\n",
"> - ... \n",
- "> - ... "
+ "> - ... \n",
+ "\n",
+ "---"
]
},
{