CEEM242 MEK628-ROBOTIC TECHNOLOGY OCT2023

MEK 628: ROBOTIC TECHNOLOGY

LAB 1: BASIC ROS COMMAND
Introduction
The Robot Operating System (ROS) is a framework used in robotics and automation
to develop complex software systems for robots. It is a meta-operating system,
meaning that it builds upon an underlying operating system, such as Linux or macOS,
to provide additional functionality. ROS is designed as a loosely coupled system,
where each process is called a node and is responsible for a single task. Nodes
communicate with each other by passing messages over logical channels called topics.
This approach allows for greater flexibility and scalability, as new nodes and topics
can be added to the system without disrupting existing functionality.

To manage this loosely coupled environment, ROS includes a Master node, which is
responsible for name registration and lookup. This allows nodes to find each other and
exchange messages even if they are running on different computers. Without the
Master node, the ROS system would not be able to function. The structure of the ROS
framework is shown in Figure 1.

Figure 1
Objective
At the end of the lab, the students will be able to:-
a. Understand the ROS framework in designing the application of the robotics.
b. Identify the function of the basic ROS command.
c. Use the basic ROS command in executing the robotic operation.
d. Work in a group to undertake the task and produce the technical work report.

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CEEM242 MEK628-ROBOTIC TECHNOLOGY OCT2023

Theoritical Background
Theoretical back ground can be referred to introduction and notes given in the
lecture .Briefing is given in the beginning of this exercise.

Problem Statement
Question 1
Get the information of the cmd_vel topic and the message structure of the
geometry_msgs/Twist.
a. Show the command used to get the information of the cmd_vel topic.
b. List the output of the command in (a).
c. Show the command used to get the information of the message structure of
geometry_msgs/Twist.
d. List the output of the command in (c).

Question 2
By Using turtlesim node, move turtle1 to a new position by using linear velocity of x=2,
y=0, z = 0 and angular velocity of x=0, y= 0, z = 2 by using terminal.
a. Show the command.
b. Show the output.
c. What is the pose value of turtle1?

Question 3
Spawn a new turtle, namely, turtle2 and move it to a new position x=-2, y=-2, Ɵ = 1
by using terminal.
a. Try to read out the current position of the second turtle by terminal.
b. Then, move the turtle to draw a square shape.
c. Show the command.
d. Show the output.
Question 4
Move turtle1 to draw a circle shape continuously.
a. Show the command.
b. Now, show the pose of turtle1.

Methods
Student have to use determine the suitable procedures to answer all the given
questions in the problem statement.

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CEEM242 MEK628-ROBOTIC TECHNOLOGY OCT2023

Results, Analysis and Conclusion

The group is required to submit the technical report of this lab including figures, coding
and explanation of the function of every command used to answer the questions.

The report must be submitted 7 days after the completion of the exercise.

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CEEM242 MEK628-ROBOTIC TECHNOLOGY OCT2023

RUBRIC FOR LAB EXERCISE

CLO2 Identify suitable operational concepts of the robotic system based on the condition of the environment for the
autonomous robotic systems in the manufacturing industry. (P4)
PO4 Conduct investigation of complex engineering problems using research-based knowledge and research methods, including design of
experiments, analysis and interpretation of data, and synthesis of information to provide valid conclusions
Indicator Allocated Mark (M) Weigted
(Domain) Mark 1 2 3 4 5 Marks
Obtained
Select practical 5 Minimal ability to Select some Select adequately Select sufficient Select (M x 1)
work materials. select practical practical work practical work practical work exemplary
(P1) work materials for materials. The materials. The selected materials. The practical work
the procedure. selected materials are adequate selected materials that
materials are for the procedure. materials are are clear and
somewhat suitable for the concise for the
adequate for the procedure. procedure.
procedure.
Explain the 5 Minimal ability to Explain some of Explain the Clearly explain Extensively (M x 1)
hypothesis/the explain the the hypothesis/research the explain the
research hypothesis/the hypothesis/the question adequately, hypothesis/the hypothesis/the
question, research research including the research research
including the question, question, connection between question, question,
connection including the including the the variables. including the including the
between the connection connection connection connection
variables. (P2) between between the between the between the
variables variables. variables. variables.
involved.
Construct a 15 Minimal ability to Limited ability to Construct a Clearly able to With a depth (M x 1)
comprehensive construct a Construct a comprehensive plan construct a understanding
plan for data comprehensive comprehensive satisfactorily for data comprehensive able to
collection for a plan for data plan for data collection for a valid plan for data extensively
valid conclusion. collection for a collection for a conclusion. collection for a construct a
(P3) valid conclusion, valid conclusion. valid conclusion. comprehensive
plan for data
collection for a
valid
conclusion.
Perform 15 Minimal ability to Limited ability to Perform appropriate Clearly able to With a depth (M x 1)
appropriate perform perform investigation perform understanding,

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CEEM242 MEK628-ROBOTIC TECHNOLOGY OCT2023

investigation for appropriate appropriate satisfactorily for data appropriate able to

data collection investigation for investigation for collection and analysis investigation for extensively
and analysis to data collection data collection to draw valid data collection perform
draw valid and analysis to and analysis to conclusions. and analysis to appropriate
conclusions. (P4) draw valid draw valid draw valid investigations
conclusions. conclusions. conclusions. for data
collection and
analysis to
draw valid
conclusions.

Total Marks /40

Total Weighted Marks (10%) /10