EXPERIMENT : 1

Aim: To provide a foundational understanding of robotics and the Robot

Operating System (ROS), including its core concepts, categories, and real-world
applications.

Theory: Robotics is an interdisciplinary field that merges principles from mechanical engineering, electronics,
computer science, artificial intelligence, and other areas of engineering and science. It focuses on the design,
construction, operation, and deployment of robots— automated systems designed to perform tasks with precision,
consistency, and adaptability.

Robots are engineered to carry out complex actions either autonomously or semiautonomously, often in environments
that are challenging, hazardous, or unsuitable for human operation. As technology advances, robotics has become a
vital area of study, significantly impacting various industries and driving innovation across multiple sectors.

Types of Robots:
Robots can be classified based on their level of autonomy and control mechanisms. The three main categories are:

➢ Manual Robots: These robots are directly operated by humans, typically through remote controls or tethered
interfaces. They depend entirely on human input for movement and decision-making.

Example: Remotely operated vehicles (ROVs) used for underwater exploration and deepsea research.

➢ Hybrid Robots: Hybrid robots blend both manual and autonomous capabilities, allowing them to switch
between human control and autonomous operation as required. This flexibility makes them suitable for
diverse applications.

Example: Drones with autopilot features that can be manually controlled by a pilot or set to autonomously
------------------------follow a predefined flight path.

➢ Autonomous Robots: Autonomous robots can perform tasks without human intervention. They are equipped
with sensors, processors, and AI algorithms to perceive their surroundings, make decisions, and navigate
independently.

Example: Self-driving cars, which utilize a combination of cameras, LiDAR, GPS, and AI to navigate roads safely.

Applications of Robotics:

The applications of robotics span across numerous fields, and they continue to evolve with technological
advancements. Some notable areas include:

➢ Healthcare: Robotics has transformed the healthcare sector with innovations like robotassisted surgeries,
autonomous medical transport robots, and robotic rehabilitation systems. These technologies enhance
 patient outcomes by allowing precise surgical procedures, improved diagnostic capabilities, and faster
recovery times.
Autonomous robots in hospitals are now being used for delivering medical supplies, sterilization, and patient
------------care, thus reducing healthcare worker fatigue and preventing infections.

➢ Disaster Response and Search & Rescue: Robotics plays a crucial role in search and rescue missions, especially
in disaster-prone areas like earthquake zones or flooded regions. Drones and ground robots equipped with
sensors and cameras can navigate through dangerous terrain to locate survivors, deliver supplies, and assess
damage without risking human lives.
These robots often integrate AI and computer vision technologies to operate autonomously and provide real-
-----------time data to rescue teams.

➢ Education and Research: Robotics is being increasingly integrated into educational tools and research settings.
Educational robots are used to teach students programming, engineering, and problem-solving skills in an
interactive way.
In research, robots enable the exploration of environments that are hazardous or inaccessible to humans, ---
---------- such as deep-sea exploration or space missions. They are used for tasks that require extreme precision and --
-----------autonomy, expanding the boundaries of scientific discovery.

Conclusion:

Robotics is a rapidly advancing field that is revolutionising various industries through automation, precision, and
adaptability. As technology continues to evolve, robots are becoming more capable, autonomous, and integrated into
our daily lives. Understanding the principles, categories, and applications of robotics is essential for anyone looking to
contribute to this dynamic and impactful field.
 EXPERIMENT : 2
Aim: To install Linux Ubuntu 22.04 LTS on Windows 11 using Oracle VirtualBox.

Description: Oracle VirtualBox is a powerful, open-source virtualization software that allows you to run multiple
operating systems simultaneously on a single Windows, macOS, Linux, or Solaris machine. Developed by Oracle,
VirtualBox supports a wide range of guest operating systems, including Windows, Linux, macOS (with limitations), and
others. It provides a flexible, user-friendly interface, making it easier for users to create and manage virtual machines.

Procedure: Steps of installation give below.

1. Install VirtualBox from “https://www.oracle.com/virtualization/technologies/vm”.

2. Download iso image file of Linux Ubuntu 22.04 from Linux website.
3. Now open the VirtualBox and run it. In it shows the option of create a new virtual
machine, click on it. Now click on Virtualize and select the path of iso image of linux.

4. Now provide the Hardware configurations such as, CPU cores and Memory.
5. Now provide it storage from internal memory for Linux, I have allocated 25GBs.

6. Here’s the summary.

7. After boot up in VirtualBox the linux Ubuntu will go in Termial.

8. Now Linux is booted up and ask for installation and Update the Software.
9. After this it ask for the Personal details and ask to create a Password for the VM.
10. Installation Process Begins then ask to reboot.

11. After reboot open the VirtualBox and Click on Linux Ubuntu and then it ask your
password.
 EXPERIMENT : 3
Aim: Implement virtual machine concepts and Installation of ROS environment.

Description: ROS 2 Humble Hawksbill is a version of the Robot Operating System (ROS 2)
designed to work on Ubuntu 22.04 and other Linux distributions, with some compatibility for
Windows and macOS. ROS 2 is a flexible framework for building robot applications and is widely
used in both academia and industry for robotics research and development. The Humble Hawksbill
release focuses on improvements in performance, scalability, and reliability, with support for real-
time systems, distributed architectures, and cross-platform development. It includes tools for
simulation, visualization, and control of robotic systems, along with middleware that facilitates
communication between software components.

Procedure: Steps of installation give below.

1. Setup the Locale:

Commands:-

2. Add the ROS 2 Repository:

➢ Add the ROS 2 repository to your package sources:

Commands:-
3. Install ROS 2 Humble:

➢ After adding the repository, update your package lists and install ROS 2 Humble:

Commands:-

4. Environment Setup:

➢ Source the ROS 2 environment so that your system recognizes ROS command. To open the
.bashrc file using Gedit (a graphical text editor for GNOME), use the following command:

Command:-
 EXPERIMENT : 4
Aim: Creation of basic inter nodes communication between Talker listener nodes.

Description: In this experiment, you will create two ROS 2 nodes:

1. Talker Node: This node will generate messages at regular intervals and publish them to a
specified topic.
2. Listener Node: This node will subscribe to the topic and listen for messages published by the
Talker node. It will then print the received messages to the console.

The communication between the Talker and Listener nodes demonstrates the core concept of
message passing in ROS 2, which is essential for building robotic applications.

Procedure:

1. Run the Talker

➢ Talker Node (Publisher)

➢ The talker node will publish messages to the /chatter topic.

Command:-

This command will start a node that repeatedly sends a "Hello, world!" message every second on
the /chatter topic.

2. Run the Listener

➢ Listener Node (Subscriber)

➢ The listener node will subscribe to the /chatter topic and print the messages it receives.

Command:-

The listener node will print the messages that the talker node publishes to the console.
3. Run Rqt_graph

➢ Once rqt_graph is running, you should see a graphical representation of the nodes and the
topics they are using.

Command:-

Output:
 EXPERIMENT : 5
Aim: Create ROS2 nodes using the Turtlesim simulator of the ROS environment.

Description: Turtlesim is a simple and widely used simulator in the ROS environment that mimics
a basic 2D world where a turtle can move and respond to user commands. It helps users, particularly
beginners, to learn and practice ROS concepts such as nodes, topics, services, parameters, and
actions in a visually intuitive and low-complexity setting.

Procedure:

1. Turtlesim Package:

➢ Install the Turtlesim simulator

Command:-

2. Running the Turtlesim Node:

➢ The turtlesim_node provides a basic 2D simulation of a turtle. Start the node in the
first terminal:

Command:-

3. Control Turtle with Keyboard (Teleoperation Node):

➢ Now, to control the turtle using keyboard teleoperation, run the teleop-twist-
keyboard node in a separate terminal. This node will publish velocity commands
based on the keys pressed.

Command:-
4.Run Rqt_graph

➢ Once rqt_graph is running, you should see a graphical representation of the nodes and the
topics they are using.

Command:-

Output:
 EXPERIMENT : 6
Aim: Executing Turtlesim for running nodes, teleoperations, swamping and remapping of nodes.

Description: This guide outlines how to use the Turtlesim simulator in ROS 2 to demonstrate key
concepts such as running nodes, teleoperation, topic remapping, and node swapping.

1. Running Turtlesim: Start the Turtlesim simulator to visualize a turtle in a 2D environment.

2. Teleoperation: Control the turtle using keyboard inputs via the teleop_twist_keyboard node,
allowing for movement in response to user commands.
3. Topic Remapping: Change the default command velocity topic by remapping it when
launching the Turtlesim and teleoperation nodes, demonstrating flexibility in topic
management.
4. Node Swapping: Create and run a custom node for turtle control, illustrating how to swap
out control strategies easily.

Procedure:

1. Running the Turtlesim Node:

➢ The turtlesim_node provides a basic 2D simulation of a turtle. Start the node in the
first terminal:

Command:-

2. Teleoperation:

➢ Now, you can control the turtle using your keyboard. Open another terminal
(after sourcing ROS 2 again), and run the teleop node:

Command:-

3.Swapping Nodes :

➢ ROS 2 uses remapping to change the behavior of topics, services, and nodes at
runtime without changing the code. Let’s remap the turtle1/cmd_vel topic to
new_topic:
Command:-

Now the turtlesim node will listen on /new_topic instead of /turtle1/cmd_vel.

➢ To move the turtle using the remapped topic, publish velocity commands
manually or through a script.

Command:-