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asked 2016-11-16 07:43:13 -0600

fma gravatar image


I'm new to ROS. I read almost all tutorials, and I think I've understand most of concepts. But I'm not sure to have a clear global view how they all interact. Besides, some of the tutorials only show how to use C++, and I mainly want to use Python...

Some months ago, I started to write Py4bot, a Python framework for multi-legs robots, in order to control an 4 DoF hexapod. It works fine, but I now want to use ROS to control this robot, as it offers much more features!

But I don't know where to start to write the code. As said, I would like to use Python as much as possible, and have a clean tree so people can easily get my code. I would also like to clearly separate different parts (robot description, gait sequencer, remote controls...) so they can be re-used elsewhere.

Could you point me to a tutorial explaining what I have to do, in which order? What file structure do you suggest? What tools do I need to use for the different parts? In what order should I code (urdf, services, topics, messages...)?

Thanks for any advice.


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A good way to practice and get better is porting the C++ tutorials to Python. Then, you can add them to the wiki to help others.

jayess gravatar image jayess  ( 2017-12-01 16:00:14 -0600 )edit

Funny you answer now! My post was written last year, and I didn't really use ROS since; I just started again to learnROSt a few days ago! I have a better overview, now, and I'm able to write simple Python scripts to use basic tools (messages, services, actions...). My next move is to dig into KDL...

fma gravatar image fma  ( 2017-12-02 01:08:35 -0600 )edit