tutorials:general [robotwiki]

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====== Tutorials on ROS/SkiROS ======


skiros2_examples give some basic introduction to SkiROS (https://github.com/rvmi/skiros2_examples). Clone into catkin_ws
/src
 folder (same level as the
 "skills" folder). Also check the SkiROS wiki page `https://github.com/RVMI/skiros2/wiki/`
 
 For GUI analytics, `http://wiki.ros.org/rqt` is highly recommended. 
 
In order to make any changes to skills related to driving, navigation and localization, transformation frames are good
 to know about (e.g. http://wiki.ros.org/tf2)
 
For ROS beginners there are many highly pedagogic tutorials at https://www.theconstructsim.com/. For example, they have a
 whole course on navigation/localization.  

====Some bashrc tips for heron_workspace_setup====

===Pimp history===
Add this to your ''.bashrc'':

''
export HISTTIMEFORMAT="%h %d %H:%M:%S " \\
export HISTSIZE=10000 \\
export HISTFILESIZE=10000 \\
export HISTIGNORE="ls:ps:history" \\
shopt -s histappend \\
PROMPT_COMMAND="history -a;$PROMPT_COMMAND" \\
''

===ROS Configuration===
Add this to your ''.bashrc'':

''
export ROS_WS=~/Workspaces/heron_ws \\
source $ROS_WS/devel/setup.bash \\
alias src='cd $ROS_WS/src' \\
export CURRENT_CMAKE_BUILD_DIR="$(catkin locate --workspace $ROS_WS --build)" \\
\\
function print_ros_variables () { \\
        echo "ROS_MASTER_URI: " $ROS_MASTER_URI \\
        echo "ROS_HOSTNAME: " $ROS_HOSTNAME \\
        echo "ROS_IP: " $ROS_IP \\
        echo "ROS Workspace: " $ROS_WS \\
        echo "rosinstall file: " `test -f $ROS_WS/src/.rosinstall.conf && cat $ROS_WS/src/.rosinstall.conf` \\
} \\
print_ros_variables \\
''

===Configure Master Way 1 - Static===
Add this to your ''.bashrc '':

''export ROS_IP=192.168.100.5 \\
export ROS_MASTER_URI='[[http://$ROS_IP:11311]]' \\
''

===Configure Master Way 2 - Flexible ===

Add this to your ''.bashrc'':

''
alias ros_master_local="export ROS_MASTER_URI='http://127.0.0.1:11311' && export ROS_IP='127.0.0.1' && unset ROS_HOSTNAME && \\ print_ros_variables" \\
alias ros_master_remote="export ROS_MASTER_URI='http://192.168.100.5:11311' && export ROS_IP='192.168.100.10' && unset ROS_HOSTNAME && print_ros_variables" \\
ros_master_local \\
''

===Resource .bashrc===
Add this to your ''.bashrc'':

''
alias resource="source ~/.bashrc"
''
===Automatically open a tmux session when connecting through ssh===
Add this to your ''.bashrc'':
''
if [[ -z "$TMUX" ]] && [ "$SSH_CONNECTION" != "" ]; then  \\
    tmux attach-session -t ssh_tmux || tmux new-session -s ssh_tmux \\
fi  \\
''

===Add SSH keys to a keyring for multiple shells===
This frees you from typing the password of your ssh key every time.

Install the `keychain` package.
''
eval `keychain --agents ssh --timeout 60 --eval id_rsa`
''



====== ROS Best Practices ======

* [ROS Best Practice Collection](https://github.com/leggedrobotics/ros_best_practices/wiki)