From 6773a4acad585e183e55d1f0707115e87c9d2167 Mon Sep 17 00:00:00 2001
From: Max <uqwfa@student.kit.edu>
Date: Thu, 19 Dec 2024 11:28:14 +0100
Subject: [PATCH] final changes notebooks
---
.../move_it_basics/move_it_basics_2.ipynb | 2 +-
.../ros/ros_basics/ros_basics_1.ipynb | 4 ++--
.../ros/ros_basics/ros_basics_2.ipynb | 1 -
.../ros/ros_basics/ros_basics_3.ipynb | 4 ++--
.../ros_intermediate/ros_intermediate_1.ipynb | 2 ++
.../ros_intermediate/ros_intermediate_2.ipynb | 23 +++++++++++++++----
.../task_pool/solution_template.ipynb | 12 ++++++----
7 files changed, 33 insertions(+), 15 deletions(-)
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 c40ea1e..269af91 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 9a93b76..c14d00f 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 c189dd9..efd2bf9 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 d50c3d3..1279cd3 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 f44f144..69f0708 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 849bcdd..080800a 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 e136534..a5fc488 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",
+ "---"
]
},
{
--
GitLab