Course_Controllers_Unit_0.ipynb

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   "source": [
    "# ROS Control MicroCourse"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Chapter 0: Introduction to the Course"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<p style=\"background:green;color:white;\">SUMMARY</p>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Estimated time to completion: <b>10 minutes</b><br><br>\n",
    "This unit is an introduction to the ROS Control MicroCourse. You'll have a quick preview of the contents that you are going to cover during the course, and you will also view a practical demo."
   ]
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   "source": [
    "<p style=\"background:green;color:white;\">END OF SUMMARY</p>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## What is ROS control?"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "ROS Control is a set of packages and tools that allow you, basically, to send commands and communicate with the joints of your robot in order to be able to control them."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The main goal of this course is to teach you how to integrate this ros_control utility within a simulated environment, so you can use this tool to control the joints of your simulated robot."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Do you want to have a taste?"
   ]
  },
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   "metadata": {},
   "source": [
    "With the proper introductions made, it is time to actually start. And... as we always do in the Robot Ignite Academy, let's start with practice! In the following demo, you will be testing the controllers already configured in a simulation, so you can have a practical look at what you are going to learn by completing this micro-course. So... let's go!"
   ]
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   "source": [
    "<p style=\"background:#EE9023;color:white;\">Demo 1.1</p>\n",
    "<br>\n",
    "\n",
    "a) Execute the following command in WebShell #1 to launch the control system.<br>\n",
    "\n",
    "<table style=\"float:left;background: #407EAF\">\n",
    "<tr>\n",
    "<th>\n",
    "<p class=\"transparent\">Execute in WebShell #1</p><br>\n",
    "</th>\n",
    "</tr>\n",
    "</table>\n",
    "<br>"
   ]
  },
  {
   "cell_type": "raw",
   "metadata": {},
   "source": [
    "roslaunch pi_robot_pkg pi_robot_control.launch"
   ]
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   "metadata": {},
   "source": [
    "b) With the previous command, a set of topics have been activated. In order to visualize the topics that will allow you to interact with the Pi robot, execute the following command."
   ]
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   "source": [
    "<table style=\"float:left;background: #407EAF\">\n",
    "<tr>\n",
    "<th>\n",
    "<p class=\"transparent\">Execute in WebShell #2</p><br>\n",
    "</th>\n",
    "</tr>\n",
    "</table>\n",
    "<br>"
   ]
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  {
   "cell_type": "raw",
   "metadata": {},
   "source": [
    "rostopic list | grep command"
   ]
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   "source": [
    "c) Now, you can execute the following commands to interact with the Pi Robot.<br>\n",
    "<table style=\"float:left;background: #407EAF\">\n",
    "<tr>\n",
    "<th>\n",
    "<p class=\"transparent\">Execute in WebShell #2</p><br>\n",
    "</th>\n",
    "</tr>\n",
    "</table>\n",
    "<br>"
   ]
  },
  {
   "cell_type": "raw",
   "metadata": {},
   "source": [
    "rostopic pub -1 /pi_robot/head_tilt_joint_position_controller/command std_msgs/Float64 \"data: 0.0\""
   ]
  },
  {
   "cell_type": "raw",
   "metadata": {},
   "source": [
    "rostopic pub -1 /pi_robot/head_pan_joint_position_controller/command std_msgs/Float64 \"data: 0.7\""
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "d) You can also try to move other joints by publishing to their corresponding topics."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<p style=\"background:#AE0202;color:white;\">Expected Result for Demo 1.1</p>"
   ]
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   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/pi_robot_moving.gif\" width=200/>"
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   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<p style=\"background:#EE9023;color:white;\">End of Demo 1.1</p>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## What will you learn with this Course?"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Basically, during this course, you will address the following topics:\n",
    "<ul>\n",
    "<li>Basics of ROS Control.</li>\n",
    "<li>How to configure ROS Control to work with your robot simulation.</li>\n",
    "<li>How to create a custom controller.</li>\n",
    "</ul>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## How will you learn it?"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "You will learn through hands-on experience from day one! This means that you will be working and testing your knowledge with various simulations. In this demo and the first chapter, you'll work a little bit with the Pi Robot."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/pi_robot.png\" width=\"400\" />"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "In the second and third chapters, you'll work with RRBot."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/rrbot.png\" width=\"400\" />"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "And you will also have a Final Project based on a UR5 simulation, like this one:"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/ur5.png\" width=\"500\" />"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Minimum requirements for the Course"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "In order to be able to fully understand the contents of this course, it is highly recommended that you have the following knowledge:\n",
    "<ul>\n",
    "<li>Basic ROS. You can get this knowledge by following the <b>ROS in 5 Days</b>  Course.</li>\n",
    "<li>Basic Unix shell knowledge.</li>\n",
    "<li>Basic Joints knowledge. You can get this knowledge by following the <b>TF ROS 101</b>  Course.</li>\n",
    "<li>Basic URDF knowledge. You can get this knowledge by following the <b>URDF 101</b>  Course.</li>\n",
    "<li>Basic C++.</li>\n",
    "</ul>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Special Thanks"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<li>This course wouldn't be possible without the amazing work done by Adolfo Rodrígiez, the creator and maintainer of the ros_control packages."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Personal repository: https://github.com/adolfo-rt\n",
    "<br>\n",
    "ROS Control Wiki Page: http://wiki.ros.org/ros_control"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<li>And, of course, we have to thank the whole Gazebo community for all the work done related to integrating ros_control with Gazebo.</li>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/gazebo_logo.png\" width=\"400\" />"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Website: http://gazebosim.org"
   ]
  }
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