Merge pull request #71 from atom-robotics-lab/vansh/selection2024

markdown/ros/node/node.rst

@@ -88,6 +88,20 @@ Steps to Create a Node in Python
 
    chmod +x node_hello_ros.py
 
+- To add your newly created script, in CMakeLists.txt file
+    - Open CmakeLists.txt in your package
+    - add the following piece of code as follows
+
+.. code:: shell
+
+   install(PROGRAMS
+       scripts/node_hello_ros.py
+       DESTINATION lib/${PROJECT_NAME}
+   )
+
+
+
+
 -  Now to run your node:
 
    -  Open a terminal and run:
@@ -164,4 +178,4 @@ Command: ros2 node
 
 .. code:: shell
 
-   ros2 node kill <node_name>
+   ros2 node kill <node_name>

markdown/ros/package/package.rst

@@ -28,7 +28,7 @@ You can create a package using either CMake or Python, which are officially supp
 
 ROS 2 CMake packages each have their own minimum required contents:
 
-.. code-block:: console
+.. note::
 
    * CMakeLists.txt file that describes how to build the code within the package
    * include/<package_name> directory containing the public headers for the package

markdown/selectiontask24/Electronics_selection.rst

@@ -22,7 +22,7 @@ the problem statement. Your performance will determine your score, and points wi
 
 **Qualification Criteria**
 
-To progress to the next stage, which is the interview phase, you must accumulate a minimum of 7 points in total. These 
+To progress to the next stage, which is the interview phase, you must accumulate a minimum of 5 points in total. These 
 points will be awarded after evaluating your submissions. Therefore, ensure you put your best foot forward for a chance to advance!
 
 
@@ -60,15 +60,22 @@ Task Description:
 
    1. Servo Motor Control: Rotate a servo motor based on the input from a potentiometer. The servo should move proportionally to the potentiometer's position.
    2. Angle Display: Print the current angle of the servo motor on an OLED screen. Ensure that the displayed angle accurately reflects the servo's position. 
-   3. Analyze the provided code and submit the output as demonstrated in the video.                                 5 pts
+   3. Analyze the provided code and submit the output as demonstrated in the video.                                 
 
 Expected Output
 ~~~~~~~~~~~~~~~
 `video link <https://www.youtube.com/shorts/lbVagJaASJ8>`__
 
 .. raw:: html
 
-   <center><iframe width="560" height="315" src="https://www.youtube.com/embed/iGsrljodarg&t" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></center><br>
+  <center><iframe width="560" height="315" src="https://youtube.com/embed/lbVagJaASJ8" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></center>
+
+
+
+.. note::
+
+   If you don't have hardware available, you can use a simulator such as `Wokwi <https://www.wokwi.com>`__  
+
 
 
 Task 1B 
@@ -77,15 +84,15 @@ Task 1B elevates the complexity with more intricate problems and higher point al
 
 Task Description:
 ~~~~~~~~~~~~~~~~~
-Light up six LEDs using only three GPIO pins of Arduino/ESP32/Microcontroller. **5 pts**
+Light up six LEDs using only three GPIO pins of Arduino/ESP32/Microcontroller. 
 
 Expected Output
 ~~~~~~~~~~~~~~~
 `video link <https://www.youtube.com/watch?v=iGsrljodarg&t=2s>`__
 
 .. raw:: html
 
-   <center><iframe width="560" height="315" src="https://www.youtube.com/embed/iGsrljodarg&t" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></center><br>
+   <center><iframe width="560" height="315" src="https://www.youtube.com/embed/iGsrljodarg" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></center><br>
 
 
 Level 2 - Expert Territory: 8pts
@@ -96,7 +103,7 @@ substantial point rewards.
 Task Description
 ^^^^^^^^^^^^^^^^
 PCB Designing - Create a schematic, perform routing, and submit a Gerber file. Additionally, provide screenshots of the 
-schematics and a text file explaining your approach and detailing the schematic.                                    10 pts
+schematics and a text file explaining your approach and detailing the schematic.                                   
 
 
 Problem Statement
@@ -108,4 +115,4 @@ track size to handle output currents of up to 2 Amps accordingly.
    The **Deadline** for completing the task: **15th October, 2024**
 
 
-Head over to `Submissions <./submissions.rst>`__ to submit your work 
+Head over to `Submissions <https://atom-robotics-lab.github.io/wiki/markdown/selectiontask24/submissions.html>`__ to submit your work 

markdown/selectiontask24/ROS_selection_task24.rst

@@ -41,7 +41,7 @@ Expected Output
    <center><iframe width="560" height="315" src="https://www.youtube.com/embed/R6udlXtyplk" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></center><br>
 
 
-.. caution:: THE Candy SHOULD BE VERTICAL .
+.. caution:: The CANDY should be VERTICAL. Also the max number of spirals can be of your choice but 3 spirals are required.
 
 Hints
 -----
@@ -55,86 +55,86 @@ Hints
 -  Use linear velocity and angular velocity to get this done.
 
 -  Keep tracking the distance travelled so as to know when to stop. You
-   can refer to Overview of rospy for more hint
+   can refer to Overview of rclpy for more hint
 
 Sample Code Snippet
 -----------------------
 
 **Question:** Write a python code to move ROS's turtlesim bot on a straight path 
-while bot's distance is less than 6.
+while bot's distance is less than 3.
 
 .. code-block:: python
-
-   #!/usr/bin/env python3
-
-   import rclpy
-   from rclpy.node import Node
-   from geometry_msgs.msg import Twist
-   from turtlesim.msg import Pose
-
-   my_X = 0.0
-   my_Y = 0.0
-   x_dist = 8.0
-
-   # Subscriber callback that gives the position of the turtle (x & y)
-   def pose_callback(pose):
-      global my_X, my_Y
-      my_X = pose.x
-      my_Y = pose.y
-      node.get_logger().info(f"Robot X = {pose.x}: Robot Y = {pose.y}")
-
-   class MoveTurtle(Node):
-      def __init__(self, lin_vel):
-         super().__init__('move_turtle')
-         self.publisher_ = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
-         self.subscriber_ = self.create_subscription(Pose, '/turtle1/pose', pose_callback, 10)
-         self.lin_vel = lin_vel
-         self.timer = self.create_timer(0.1, self.move_callback)  # 10hz
-         self.vel_msg = Twist()
-
-      def move_callback(self):
-         global my_X, x_dist
-
-         # Set the linear velocity
-         self.vel_msg.linear.x = self.lin_vel
-         self.vel_msg.linear.y = 0.0  # Ensure this is a float
-         self.vel_msg.linear.z = 0.0  # Ensure this is a float
-         self.vel_msg.angular.x = 0.0
-         self.vel_msg.angular.y = 0.0
-         self.vel_msg.angular.z = 0.0
-
-         self.get_logger().info(f"Linear Vel = {self.lin_vel}")
-
-         # Stop the turtle when it reaches x_dist
-         if my_X >= x_dist:
-               self.get_logger().info("Turtle Reached destination")
-               self.get_logger().warn("Stopping Turtle")
-
-               # Set the velocity to zero to stop the turtle
-               self.vel_msg.linear.x = 0.0
-               self.publisher_.publish(self.vel_msg)
-               rclpy.shutdown()
-         else:
-               self.publisher_.publish(self.vel_msg)
-
-   def main(args=None):
-      rclpy.init(args=args)
-
-      lin_vel = 2.0  # Set linear velocity
-      global node
-      node = MoveTurtle(lin_vel)
-
-      try:
-         rclpy.spin(node)
-      except KeyboardInterrupt:
-         pass
-      finally:
-         node.destroy_node()
+      
+      #!/usr/bin/env python3
+
+      import rclpy
+      from rclpy.node import Node
+      from geometry_msgs.msg import Twist
+      from turtlesim.msg import Pose
+      import math
+
+      class MoveTurtle(Node):
+
+         def __init__(self):
+            super().__init__('move_turtle')
+            self.start_x = None
+            self.start_y = None
+            self.target_distance = 3.0  # Distance to move in pixels
+            self.lin_vel = 2.0  # Linear velocity
+
+            # Create a publisher for controlling the turtle's velocity
+            self.pub = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
+            # Create a subscriber for getting the turtle's position
+            self.sub = self.create_subscription(Pose, '/turtle1/pose', self.pose_callback, 10)
+
+         def pose_callback(self, pose):
+            if self.start_x is None and self.start_y is None:
+                  # Set the starting position when the first pose message is received
+                  self.start_x = pose.x
+                  self.start_y = pose.y
+                  self.get_logger().info(f"Starting position set to X = {self.start_x:.2f}, Y = {self.start_y:.2f}")
+            
+            # Calculate the distance from the starting position
+            distance = math.sqrt((pose.x - self.start_x) ** 2 + (pose.y - self.start_y) ** 2)
+            self.get_logger().info(f"Distance from start = {distance:.2f}")
+
+            # Create a Twist message to set the turtle's velocity
+            vel = Twist()
+            vel.linear.x = self.lin_vel
+            vel.linear.y = 0.0
+            vel.linear.z = 0.0
+            vel.angular.x = 0.0
+            vel.angular.y = 0.0
+            vel.angular.z = 0.0
+
+            if distance >= self.target_distance:
+                  self.get_logger().info("Turtle reached the target distance")
+                  vel.linear.x = 0.0  # Stop the turtle
+                  self.get_logger().warn("Stopping Turtle")
+                  self.pub.publish(vel)
+                  rclpy.shutdown()
+            else:
+                  self.pub.publish(vel)
+
+      def main(args=None):
+         rclpy.init(args=args)
+         move_turtle_node = MoveTurtle()
+         rclpy.spin(move_turtle_node)
+         move_turtle_node.destroy_node()
          rclpy.shutdown()
 
-   if __name__ == '__main__':
-      main()
+      if __name__ == '__main__':
+         main()
+ 
+
+      
+
+.. Output video
+.. -----------------------
+
+.. .. raw:: html
 
+..    <center><iframe width="560" height="315" src="https://www.youtube.com/embed/tjGNhEe-S_k" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></center><br>
 
 Commands used:
 
@@ -179,4 +179,4 @@ Follow the instructions given below to get started with the task.
    the official `ROSWIKI <http://wiki.ros.org/Documentation>`__ if you
    need help with anything regarding ROS2.
 
-Head over to `Submissions <./submissions.rst>`__ to submit your work 
+Head over to `Submissions <https://atom-robotics-lab.github.io/wiki/markdown/selectiontask24/submissions.html>`__ to submit your work 

markdown/selectiontask24/cad_sel.rst

@@ -60,8 +60,14 @@ Expected Output
 
 .. figure:: Task1.png
 
+.. raw:: html
+
+   </center>
+
+.. figure:: cad1.png
+
 
-Task 2: 8pts
+Task 2: 5pts
 --------------
 .. raw:: html
 
@@ -123,4 +129,4 @@ Expected Output
 
 ..  caution:: THE DRAWING SHOULD BE DONE ACCURATELY AND AS EXPECTED .
 
-Head over to `Submissions <./submissions.rst>`__ to submit your work 
+Head over to `Submissions <https://atom-robotics-lab.github.io/wiki/markdown/selectiontask24/submissions.html>`__ to submit your work