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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.

### 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)