After the intro meetings and completing the welcome surveys, I created the docker image to provide a VNC interface using this repository (Tiryoh/docker-ros2-desktop-vnc) and the following commands:

docker build -t tiryoh/ros2-desktop-vnc:humble .

Running container:

docker run -p 6080:80 --security-opt seccomp=unconfined --shm-size=512m tiryoh/ros2-desktop-vnc:humble

Began background research for kickoff presentation by reviewing previous work including:

• Fall 2023 background research
• Fall 2023 kickoff presentation
• Fall 2023 final presentation
• Fall 2023 midterm paper

I used this information to create the problem slide of our kickoff presentation.

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Downloaded ROS2 Humble using the docker container and following the first 10 min of this tutorial by Robotics Back-End on YouTube.

This follows the Debian package documented here.

I had some issues getting the ROS2 commands running on the machine at first it is important to remember to source the setup.bash file if the command is not found. ~$ source opt/ros/humble/setup.bash

After our Tuesday group meeting we decided to complete [this(https://docs.ros.org/en/humble/Tutorials.html) tutorial up to the Beginner: Client libraries section

I worked through the documentation and learned about nodes, topics, services and parameters.

Nodes in ROS can send and receive data from other nodes via topics, services, actions, or parameters. Nodes can be remapped allowing you to reassign default node properties to custom values. Topics act a a bus for nodes to share information and are the main way data is shared between different parts of the system. Services are based on a call-and-response model versus the publisher-subscriber model of topics. Services only provide data when called upon and there can only be one service server for each service. Parameters are essentially the settings of a ROS node. using them allows you to change values of the node without changing the code.

new tools:

ros2 node list

returns all active nodes

ros2 node info

returns all graph connections of node

ros2 topic list -t

returns all active topics -t tag shows the topic type in brackets

ros2 service type <service_name>

returns a service's type

ros2 service call <service_name> <service_type> <arguments>

allows you to call a service

ros2 param dump <node_name> > myParams.yaml

ros2 param load <node_name> <parameter_file>

allows you to store and load parameters from files.